System and method for conducting subterranean operations

ABSTRACT

A tubular handling system for conducting subterranean operations is disclosed and can include a first tubular handling system and a second tubular handling system. The first tubular handling system can include a bridge disposed within a tubular storage area, an arm pivotally coupled to the bridge, and a gripper coupled to the arm and adapted to engage with a tubular in the tubular storage area. The second tubular handling system can include a support structure, a first tubular handler coupled to the support structure, and a second tubular handler coupled to the support structure and distinct from the first tubular handling system.

CROSS-REFERENCE TO RELATED APPLICATION(S)

This application claims priority under 35 U.S.C. § 119(e) to U.S. PatentApplication No. 62/663,978, entitled “SYSTEM AND METHOD FOR CONDUCTINGSUBTERRANEAN OPERATIONS,” by Kenneth MIKALSEN, filed Apr. 27, 2018,which application is assigned to the current assignee hereof andincorporated herein by reference in its entirety.

BACKGROUND OF THE INVENTION Field of the Disclosure

The present invention relates, in general, to drilling operations andmore specifically, to pipe handling systems for drilling rigs.

Description of the Related Art

Hundreds of billions of dollars are spent worldwide for oil explorationand production. Much of this activity is conducted on drillingplatforms. For example, these drilling platforms may include fixedplatforms, compliant towers, semi-submersible platforms, jack-updrilling rigs, drill ships, floating productions systems, tension-legplatforms, gravity-based structures, and spar platforms. Regardless ofthe type of platform, these are complex operations that generallyrequire the use of drilling rigs in order to locate and recover oil.

Accordingly, the exploration and production of natural resourcescontinues to demand improvements.

BRIEF DESCRIPTION OF THE DRAWINGS

The present disclosure may be better understood, and its numerousfeatures and advantages made apparent to those skilled in the art byreferencing the accompanying drawings.

FIGS. 1-167 include illustrations of portions of a system for conductingsubterranean operations in accordance with embodiments herein.

FIGS. 168-192 include illustrations of a portion of a first method forconducting subterranean operations in accordance with embodimentsherein.

FIGS. 193-199 include illustrations of a portion of a second method forconducting subterranean operations in accordance with embodimentsherein.

FIGS. 200-205 include illustrations of a portion of a third method forconducting subterranean operations in accordance with embodiments.

FIGS. 206-212 include illustrations of a portion of a fourth method forconducting subterranean operations in accordance with embodiments.

FIGS. 213-216 include illustrations of a drill pipe storage system inaccordance with embodiments.

DETAILED DESCRIPTION

The following is generally directed to systems and methods forconducting subterranean operations.

Embodiments are directed to a system for conduction subterraneanoperations. The system can include a plurality of subsystems, such as ahorizontal tubular handling system disposed over a tubular storage areathat interacts with a vertical tubular handling system adjacent to wellbore area. The system can also include a track mounted robotic armadjacent to the well bore area and an iron roughneck adjacent to thewell bore area. The system is automated and can safely pass tubulars,e.g., BHA components, drill pipes, and casings, between the horizontaltubular handling system, the vertical tubular handling system, and therobotic arm, while using the iron roughneck to automatically torquetubular together and decouple tubular members.

System for Conducting a Subterranean Operation

Referring FIG. 1 through FIG. 167 various parts of a system forconducting a subterranean operation is illustrated and is generallydesignated 100. As shown in FIG. 2, the system 100 can include a tubularstorage area 200 that can be used to store various tubular, e.g., drillpipes and casings, horizontally and some relatively short tubulars,e.g., subs, vertically. For example, the tubular storage area 200 caninclude a storage floor 202 that can include a horizontal drill piperack 204 in which a plurality of drill pipes 206 can be storedhorizontally. Further, the tubular storage area 200 can include ahorizontal bottom hole assembly (BHA) storage rack 208 in which one ormore BHA components, such as a BHA 210 may be stored horizontally. Thetubular store area 200 can also include a horizontal storage rack 212 inwhich a plurality of casings 214 can be stored horizontally. It is to beunderstood that the horizontal drill pipe rack 204, the BHA storage rack208, and the horizontal storage rack 212 can be considered tubularmagazines in which one or more tubulars can be stored.

FIG. 2 through FIG. 4 and FIG. 10 through FIG. 12 indicate that thetubular storage area 200 can further include a vertical storage rack 216that can include a plurality of vertical posts 218 on which a pluralityof sub-type tubulars 220 (subs) can be stored. These subs 220 caninclude lift plugs, rotary sub, crossover subs, rotary reduced sectionsubs, hoisting subs, lifting bails, top drive subs, inline sensors, andother types of generally cylindrical or generally tubular devices thatcan be engaged, threadably or non-threadably, with one or more othertubulars (e.g., drill pipes or casings). During operation, one or moresubs 220 can be lifted from the vertical storage rack 216 rotated to ahorizontal transfer position and transferred into a drilling area(described in detail below) for retrieval by another tubular handler.

FIG. 2 and FIG. 10 through FIG. 15 indicate that the tubular storagearea 200 can further include a horizontal tubular handling system (HTHS)230. The HTHS 230 can include a bridge 232 mounted on first guide rail234 and a second guide rail 236. The bridge 232 is configured totranslate from a first bridge position to a second bridge position alongthe guide rails 234, 236 and over the tubular store area 200. Further,translating the bridge 232 is performed in a direction generallytransverse, or perpendicular, to a length of a first tubular that theHTHS 230 may be carrying, as described in detail below. In anotheraspect, operating the HTHS 230 can include translating the bridge 232along the guide rails 234, 236 to a third bridge position spaced apartfrom the first bridge position and the second bridge position, whereinthe third bridge position corresponds to a second pick-up positionwherein the arm is adapted to engage a second tubular in a tubularmagazine, e.g., to a drill pipe 206 within a horizontal drill pipe rack204, a BHA 210 in a BHA storage rack 208, a casing 214 within ahorizontal storage rack 212, or a combination thereof. Translating thebridge 232 to the first bridge position, the second bridge position, orthe third bridge position can include sensing at least onecharacteristic of the tubular storage area 200 and the at least onecharacteristic can include a number of tubulars in the storage area, aposition of a tubular relative to the tubular storage area, or anycombination thereof.

In another aspect, the tubular storage area 200 can include a length, L,and the guide rails 234, 236 can extend along the entire length of thetubular storage area 200. This may allow the HTHS 230 to have fullaccess to all of the tubulars stored in the tubular storage area 200(vertically and horizontally stored). The bridge 232 can include a firstportion 238 that extends from the first guide rail 234 to the secondguide rail 236. Moreover, the bridge 232 can include a second portion240 that extends from the first guide rail 234 to the second guide rail236. In particular the first and second portions 238, 240 of the bridgecan be substantially parallel to each other and substantiallyperpendicular to the guide rails 234, 236.

The bridge 232 of the HTHS 230 can further include a transverse member242 that is mounted between the first and second portions 238, 240 ofthe bridge 232. The transverse member 242 can move linearly between thefirst and second portions 238, 240 of the bridge 232 along an axis 241that is parallel to the first and second portions 238, 240 of the bridge232. The axis 241 along which the transverse member 242 moves issubstantially perpendicular to the axis 243 along which the bridge 232moves.

As illustrated, the HTHS 230 can also include an articulating arm 244rotatably mounted on the transverse member 242 of the bridge 232 of theHTHS 230. In a particular aspect, the articulating arm 244 can include afirst portion 246 having a first end 248, a second end 250, and anelongated portion 252 extending therebetween. The first end 248 of thefirst portion 246 of the arm 244 can be generally cylindrical and can berotatably mounted within a portion of the transverse member 242 of thebridge. A motor (not shown) can be disposed within the first end 248 ofthe first portion 246 of the arm 244. The motor can be a servomotor, astepper motor, or the like. Further, actuating the motor may cause thearm 244 to rotate around an axis 254, passing through a center of thefirst end 248 of the first portion 246 of the arm 244, that may begenerally perpendicular to the first and second portions 238, 240 of thebridge 232. The second end 250 of the first portion 246 of the arm 244can be formed with a bore 256 extending substantially perpendicularlytherethrough. Further, the second end 250 of the first portion 246 ofthe arm 244 can include a slot 258 extending therethrough at leastpartially along the length of the elongated portion 252 of the firstportion 246 of the arm 244.

The articulating arm 244 can also include a second portion 260 having afirst end 262, a second end 264, and an elongated portion 266 extendingtherebetween. The elongated portion 266 can include an offsetdisc-shaped portion 268 located centrally along the elongated portion266 of the second portion 260 of the arm 244. The offset disc-shapedportion 268 has a center that is spaced apart a distance, D, from thelongitudinal axis of the elongated portion 266 of the second portion 260of the articulating arm 244. The offset disc-shaped portion 268 of thesecond portion 260 of the arm 244 is configured to fit into and rotatewithin the bore 254 formed in the second end 250 of the first portion246 of the arm 244. The slot 256 formed in the second end 250 of thefirst portion of the arm 244 can allow the second portion 260 of the arm244 to rotate nearly 180° with respect to the first portion 246 of thearm 244 and can allow the second portion 260 of the arm 244 to berotated nearly parallel to the first portion 246 of the arm 244.

In a particular aspect, a motor (not shown) can be disposed within theoffset disc-shaped portion 268 of the second portion 260 of thearticulating arm 244. The motor can be a servomotor, a stepper motor, orthe like. Further, actuating the motor can cause the second portion 260of the articulating arm 244 to rotate with respect to the first portion246 of the articulating arm 244 around an axis 270, passing through acenter of the offset disc-shaped portion 268 of the second portion 260of the articulating arm 244, that is generally perpendicular to thefirst and second portions 238, 240 of the bridge 232.

As further shown in the figures, the HTHS 230 can include a firstgripper 280 attached to, or disposed on, the first end 262 of the secondportion 260 of the articulating arm 244. Further, the HTHS 230 caninclude a second gripper 282 attached to, or disposed on, the second end264 of the second portion of the articulating arm 244. The grippers 280,282 are described in detail in patent application Ser. No. 15/531,644;filed on Dec. 1, 2015; and published as United States Publication number2017/0328149. Application 2017/0328149 is hereby incorporated byreference in its entirety. As described in greater detail below, thearticulating arm 244 and the grippers 280, 282 can be adapted to engageat least a first tubular and can be used to retrieve the first tubularand other tubulars from the tubular storage area 200 and pass them tothe drilling area. Further, the grippers 280, 282 can be rotatablycoupled to the arm 244 of the HTHS 230 and a rotational axis of eachgripper 280, 282 is generally parallel with a horizontal plane orgenerally perpendicular to a length of the arm 244.

The arm 244 of the HTHS 230 is adapted to move a tubular between thefirst portion 238 and the second portion 240 of the bridge 232 uponmoving the tubular from a pick-up position to a delivered position.Further, the HTHS 230 is adapted to move a first tubular from a firsthorizontal position associated with a pick-up position through avertical position and to a second horizontal position associated with adelivered position. Additionally, the arm 244 of the HTHS 230 is adaptedto translate along at least a portion of a length of the bridge 232while rotating a tubular from a first horizontal position, through avertical position, to a second horizontal position. In a particularaspect, moving the first tubular between the first and second positionsincludes rotating the first tubular at least 91 degrees or at least 95degrees or at least 100 degrees or at least 120 degrees or at least 150degrees or at least 160 degrees. Moving the arm 244 toward the firsttubular is performed by pivoting the arm about a pivotal axis thatoriented generally normal to a horizontal plane passing through thefirst portion 238 and the second portion 240 of the bridge 232.

In a particular aspect, the HTHS 230 can be used for conductingsubterranean operations. Such a method can include translating a bridge232 of a pipe deck handler to a first bridge position over a tubularstorage area, moving an arm 244 coupled to the bridge 232 toward a firsttubular in the tubular storage area, gripping the first tubular with agripper 280, 282 coupled to the arm 244, and at least one of thefollowing processes: translating the bridge 232 along a guide rail 234,236 to a second bridge position spaced apart from the first bridgeposition; moving the first tubular from a first position to a secondposition, wherein moving includes moving at least a portion of the firsttubular through the bridge 232 between a first portion 238 and a secondportion 240 of the bridge 232; moving the first tubular from a firsthorizontal position associated with a pick-up position through avertical position and to a second horizontal position associated with adelivered position; translating the arm 244 along at least a portion ofa length of the bridge 232 while rotating the tubular from a firsthorizontal position, through a vertical position, to a second horizontalposition; or any combination thereof.

Specifically, translating the bridge 232 can be performed in a directiongenerally transverse to a length of the first tubular. Moreover, thefirst bridge position corresponds to a pick-up position wherein the arm244 is adapted to engage the first tubular in a tubular magazine andwherein the second bridge position corresponds to the deliveredposition. The method of operation can further include translating thebridge 232 along the guide rail 234, 236 to a third bridge positionspaced apart from the first bridge position and second bridge position.The third bridge position corresponds to a second pick-up positionwherein the arm 244 is adapted to engage a second tubular in a tubularmagazine.

In a particular aspect, translating the bridge to the first bridgeposition further comprises sensing at least one characteristic of thetubular storage area, the at least one characteristic comprising atleast one of: a number of tubulars in the tubular storage area 200; aposition of the tubular relative to the tubular storage area 200; or anycombination thereof. Moving the first tubular between the first andsecond positions comprises rotating the first tubular at least 91degrees or at least 95 degrees or at least 100 degrees or at least 120degrees or at least 150 degrees or at least 160 degrees. Further, movingthe arm toward the first tubular is performed by pivoting the arm abouta pivotal axis oriented generally normal to a horizontal plane. Aspreviously described, the arm 244 is coupled to the bridge 232 through atransverse member 242, and translating the arm 244 along the bridge 232is performed by moving the transverse member 242 relative to the bridge232. Further, the transverse member 242 is coupled between the first andsecond portions 238, 240 of the bridge 232 and moving the transversemember 242 is performed by translating the transverse member 242 along alength of the bridge 232.

In another aspect, the gripper 280, 282 is rotatably coupled to the arm244 about a rotational axis and the rotational axis is generallyparallel with a horizontal plane or generally perpendicular to a lengthof the arm 244. Further, moving the first tubular from the firsthorizontal position to the second horizontal position comprises rotatingthe gripper 280, 282 around a rotational axis. The first tubular can bedisposed at a first angular orientation, as measured with respect to ahorizontal plane prior to engagement with the gripper 280, 282, betweenand including 0° and 90°.

The method of operating the HTHS 230 can further include moving the arm244 toward a second tubular in the tubular storage area 200 and grippingthe second tubular with the gripper 280, 282. In a particular aspect,the first and second tubulars can be disposed at different angularorientations, as measured prior to engagement with the gripper 280, 282.Moving the arm 244 toward the second tubular can be performed aftertranslating the bridge 232 along the guide rail 234, 236 to a thirdbridge position corresponding with the second tubular. Further, movingthe arm 244 toward the second tubular is performed after translating thebridge 232 along the guide rail 234, 236 to the first bridge positioncorresponding with the second tubular.

In another aspect, the bridge 232 is adapted to access the entiretubular storage area 200. Further, first horizontal position is disposedat a vertical elevation below the second horizontal position. Moreover,the HTHS 230 is disposed adjacent to a wellbore, and wherein the secondhorizontal position is closer to the wellbore than the first horizontalposition. It is to be understood that the arm 244 is coupled to thebridge 232 through a transverse member 242 adapted to translate along alength of the bridge 234. At least one of the bridge 232 and transversemember 242 comprises a drive element adapted to move the transversemember along a length of the bridge. The drive element comprises anelectric motor.

In another aspect, the arm 244 comprises a pivot joint adapted to pivotrelative to the bridge 232 in a range between and including 1° and 270°.Additionally, the arm 244 can be adapted to pivot around the pivot jointat an angle of at least 5° or at least 10° or at least 20° or at least30° or at least 40° or at least 50° or at least 60° or at least 70° orat least 80° or at least 90° or at least 100° or at least 110° or atleast 120° or at least 130° or at least 140° or at least 150° or atleast 160° or at least 170° or at least 180° or at least 190° or atleast 200° or at least 210° or at least 220° or at least 230° or atleast 240° or at least 250° or at least 260°. In another aspect, the arm244 can be adapted to pivot around the pivot joint at an angle of notgreater than 260° or not greater than 250° or not greater than 240° ornot greater than 230° or not greater than 220° or not greater than 210°or not greater than 200° or not greater than 190° or not greater than180° or not greater than 170° or not greater than 160° or not greaterthan 150° or not greater than 140° or not greater than 130° or notgreater than 120° or not greater than 110° or not greater than 100° ornot greater than 90°.

It is to be understood that the arm 244 is coupled directly to atransverse element 242, and the transverse element 242 is coupleddirectly to a first portion 238 and second portion 240 of the bridge232. The bridge 232 is coupled to a guide rail 234, 236 and the bridge232 is configured to translate from a first bridge position to a secondbridge position along the guide rail 234, 236 and over the tubularstorage area 200. The HTHS 230 can be configured to translate for adistance greater than a majority of a length of the tubular storagearea. For example, the HTHS 230 is configured to translate for at least60% of a length of the tubular storage area 200 or at least 70% or atleast 80% or at least 90% or at least 95%.

In another aspect, the HTHS 230 is configured to translate for an entirelength of the tubular storage area 200. It is to be understood that theguide rail includes a first guide rail 234 and a second guide rail 236,and wherein the bridge 232 comprises a first end 290 attached to thefirst guide rail 234 and a second end 292 attached to the second guiderail 236. The guide rail 234, 236 extends in a direction generallyperpendicular to a length of the bridge 232. The HTHS 230 furtherincludes at least one drive element between the bridge 232 and the guiderail 234, 236 configured to translate the bridge 232 along the guiderail 234, 236.

In still another aspect, the bridge 232 comprises at least one drivemember between the first end 290 and the first guide rail 234 or thesecond end 292 and the second guide rail 236 and the at least one drivemember is configured to translate the bridge 232 along the guide rail324, 236. Further, in another aspect, the HTHS 230 can include a firstdrive member between the first end 290 and the first guide rail 234 anda second drive member between the second end 292 and the second guiderail 236 and the first drive member and second drive member can becontrolled by at least one controller to synchronize their movements. Itis to be understood that the arm 244 is coupled to a transverse member242 and the arm 244 comprises a first pivot point with a first pivotaxis extending generally parallel to a horizontal plane. The arm 244further includes a gripper 280, 282 coupled to the arm 244 at a secondpivot point and having a second pivot axis extending generally parallelto the horizontal plane.

The arm 244 and gripper 280, 282 are adapted to act in concert to movethe first tubular from a first horizontal position to a secondhorizontal position spaced apart from the first horizontal position.During movement of the first tubular from the first horizontal positionto the second horizontal positions, the gripper 280, 282 is adapted torotate about a second pivot point a first angular displacement, al,greater than an angular displacement, α2, of the arm about a first pivotaxis. In particular, al is at least 1.01 α2 or at least 1.02 α2 or atleast 1.03 α2 or at least 1.04 α2 or at least 1.05 α2 or at least 1.1 α2or at least 1.2 α2 or at least 1.3 α2 or at least 1.4 α2. In anotheraspect, al is not greater than 10.0 α2 or not greater than 9.0 α2 or notgreater than 8.0 α2 or not greater than 7.0 α2 or not greater than 6.0α2 or not greater than 5.0 α2 or not greater than 4.0 α2 or not greaterthan 3.0 α2 or not greater than 2.0 α2 or not greater than 1.5 α2.

In still another aspect, the gripper 280, 282 is rotatable about asecond pivot point relative to the arm 244 and the arm 244 is pivotableabout a first pivot axis, and wherein the second pivot axis and firstpivot axis are generally parallel with respect to one another. Inanother aspect, the gripper 280, 282 can include at least two grippingelements and each can be adapted to grip the first tubular. Further, atleast one of the at least two gripping elements can be adapted to gripthe first tubular with a first diameter and a second tubular with asecond diameter different than the first diameter. In another aspect,the arm 244 comprises a recessed portion and at least a portion of thegripper 280, 282 is disposed in the recessed portion of the arm 244. Thegripper 280, 282 can be rotatably coupled to the arm 244 about arotational axis extending through the recessed portion of the arm.

In another aspect, the bridge 232 has a total length, LB, and the arm244 is adapted to translate a distance of not greater than LB or notgreater than 0.99 LB or not greater than 0.95 LB or not greater than 0.9LB or not greater than 0.8 LB or not greater than 0.7 LB or not greaterthan 0.6 LB. Further, the bridge has a length, LB, and the arm isadapted to translate a distance of at least 0.05 LB or at least 0.1 LBor at least 0.2 LB or at least 0.3 LB or at least 0.4 LB or at least 0.5LB. In another aspect, the bridge is disposed at a vertical elevationabove the tubular storage area.

As further indicated in FIG. 3 through 7, the system 100 can include awell bore area 300 adjacent to the tubular storage area 200. The wellbore area 300 can include a vertical tubular handling system (VTHS) 400,a robotic arm 500, and an iron roughneck system 600. The well bore area300 can further include a first vertical tubular storage rack, orsetback, 700 and a second vertical tubular storage rack, or setback, 702adjacent to the VTHS 400. While the vertical storage racks 700, 702 areshown in FIG. 7 and other figures, ensuing figures have been simplifiedand the racks 700, 702 may be omitted for clarity.

As shown in FIG. 4, the VTHS 400 can include a vertical supportstructure 402 having a first end 404, a second end 406, and an elongatedportion 408 extending therebetween. The first end 404 of the verticalsupport structure 402 can be generally cylindrical and can be rotatablymounted on a base 410. In a particular aspect, the first end 404 of thevertical support structure 402 or the base 410 can include a motor (notshown) disposed therein. The motor can be a servomotor, a stepper motor,or the like. Actuating the motor can cause the vertical supportstructure 402 to rotate around a first vertical rotational axis 410,passing through a center of the first end 404 of the vertical supportstructure 402, that is generally perpendicular to the storage floor 202.

FIG. 4 further indicates that the VTHS 400 can include a lower tubularhandler (LTH) 420 and an upper tubular handler (UTH) 422 coupled to thevertical support structure 402. The LTH 420 can be considered a firsttubular handler and the UTH 422 can be considered a second tubularhandler. In a particular aspect, the UTH 422 is disposed at a verticalelevation along the vertical support structure 402 above the LTH 420.Further, the UTH 422 is adapted to move independent of the LTH 420. Morespecifically, the UTH 422 and the LTH 420 are adapted to moveindependent of each other. Additionally, the LTH 420 and the UTH 422 areadapted to rotate with the vertical support structure 402 around thefirst vertical rotational axis 410. Moreover, the LTH 420 and the UTH422 are adapted to move linearly up and down along the vertical supportstructure 402.

In a particular aspect, the LTH 420 and the UTH 422 may include at leastthree different pivot points. Further, the LTH 420 and the UTH 422 canbe vertically adjustable with respect to the vertical support structure402. The LTH 420 and/or the UTH 422 can be adapted to reorient atubular, e.g., a first tubular, between a generally horizontalorientation and a generally vertical orientation. In a particularaspect, the LTH 420 and the UTH 422 can be adapted to move independentof each other.

As best shown in FIG. 6, the LTH 420 can include an articulating arm 430having a first portion 432 coupled to the vertical support structure402. A motor (not shown) can be disposed within the first portion 432 ofthe arm 430 and the motor can be used to raise or lower the LTH 420along the vertical support structure 402. The motor can be a servomotor,a stepper motor, or the like.

The first portion 432 of the articulating arm 430 can include a mountingplate 434 on which a second portion 436 is mounted or otherwise coupledthereto. The second portion 436 of the arm 430 can include a first end438 and a second end 440. The first end 438 of the second portion 436 ofthe arm 430 can include a mounting plate 442 that can be coupled to andabut the mounting plate 434 of the first portion 432 of the arm 430. Amotor (not shown) can be disposed adjacent to the mounting plates 434,442 within the first portion 432 of the arm 430 and the motor can beused to rotate the second portion 436 of the arm 430 around a secondvertical rotational axis 444 parallel to and spaced apart from the firstvertical rotational axis 410. It is to be understood that the secondvertical rotational axis 444 is generally parallel with a length of thevertical support structure 402, or the second vertical rotational axisis generally vertical, or a combination thereof. The second portion 436of the arm 430 of the LTH 420 can be rotatably by at least 10 degrees,at least 25 degrees, at least 45 degrees, at least 60 degrees, at least90 degrees, at least 120 degrees, at least 150 degrees, or at least 180degrees about the second vertical rotational axis 444. The motor can bea servomotor, a stepper motor, or the like.

The second end 440 of the second portion 436 of the arm 430 can includetwo generally disk-shaped plates 446 spaced apart from each other. In aparticular aspect, the articulating arm 430 of the LTH 420 can furtherinclude a third portion 450 having a first end 452, a second end 454,and an elongated portion 456 extending therebetween. The first end 452of the third portion 450 of the arm 430 can be generally cylindrical andcan be rotatably mounted within the disk-shaped plates 446 on the secondend 440 of the second portion 436 of the arm 430. A motor (not shown)can be disposed within the first end 452 of the third portion 450 of thearm 430. The motor can be a servomotor, a stepper motor, or the like.Further, actuating the motor can cause the third portion 450 of the arm430 to rotate around a third rotational axis (into FIG. 6), passingthrough a center 458 of the first end 452 of the third portion 450 ofthe arm 430, that is generally parallel to the storage floor 202, orperpendicular to the second rotational axis, or a combination thereof.In a particular aspect, the third portion 450 of the arm 430 of the LTH420 is rotatable by at least 10 degrees, at least 25 degrees, at least45 degrees, at least 60 degrees, at least 90 degrees, at least 120degrees, or at least 180 degrees about the third rotational axis.

The second end 454 of the third portion 450 of the arm 430 can be formedwith a bore 460 extending substantially perpendicularly therethrough.Further, the second end 454 of the third portion 450 of the arm 430 caninclude a slot (not viewable in FIG. 6) extending therethrough at leastpartially along the length of the elongated portion 456 of the thirdportion 450 of the arm 430.

The articulating arm 430 can further include a fourth portion 470 havinga first end 472, a second end 474, and an elongated portion 476extending therebetween. The elongated portion 476 can include an offsetdisc-shaped portion 478 located centrally along the elongated portion476 of the fourth portion 470 of the arm 430. The offset disc-shapedportion 478 has a center that is spaced apart a distance, D, from thelongitudinal axis of the elongated portion 476 of the fourth portion 470of the articulating arm 430. The offset disc-shaped portion 478 of thefourth portion 470 of the arm 430 is configured to fit into and rotatewithin the bore 460 formed in the fourth end 250 of the third portion450 of the arm 430. The slot formed in the second end 454 of the thirdportion of the arm 430 can allow the fourth portion 470 of the arm 430to rotate nearly 180° with respect to the third portion 450 of the arm430 and can allow the fourth portion 470 of the arm 430 to be rotatednearly parallel to the third portion 450 of the arm 430.

In a particular aspect, a motor (not shown) can be disposed within theoffset disc-shaped portion 478 of the second portion 470 of thearticulating arm 430. The motor can be a servomotor, a stepper motor, orthe like. Further, actuating the motor can cause the fourth portion 470of the articulating arm 430 to rotate with respect to the third portion450 of the articulating arm 430 around a fourth rotational axis (intoFIG. 6), passing through a center 480 of the offset disc-shaped portion478 of the second portion 470 of the articulating arm 430, that isgenerally parallel to the storage floor 202, or perpendicular to thesecond rotational axis, or a combination thereof. In a particularaspect, the fourth portion 470 of the arm 430 of the LTH 420 isrotatable by at least 10 degrees, at least 25 degrees, at least 45degrees, at least 60 degrees, at least 90 degrees, at least 120 degrees,or at least 180 degrees about the third rotational axis.

As further shown in the figures, the articulating arm 430 of the LTH 420can include a first gripper 482 attached to, or disposed on, the firstend 472 of the fourth portion 470 of the articulating arm 430. Further,the articulating arm 430 of the LTH 420 can include a second gripper 484attached to, or disposed on, the second end 474 of the fourth portion470 of the articulating arm 430. The grippers 482, 484 substantially thesame as the grippers 280, 282 described above. As described in greaterdetail below, the articulating arm 430 of the LTH 420 and the grippers482, 484 can be used to retrieve tubulars from the HTHS 230. FIG. 7depicts the UTH 422, which is constructed substantially identical to theLTH 420 and includes the same parts and components described above inconjunction with the LTH 420. The grippers 482, 484 can be rotatablycoupled to the fourth portion 470 of the arm 430 of the LTH 420 and canrotate about a fifth rotational axis passing longitudinally through thefourth portion 470 of the arm. It is to be understood that the grippers482, 484 are rotatable by a least 10 degrees, at least 25 degrees, atleast 45 degrees, at least 60 degrees, at least 90 degrees, at least 120degrees, at least 150 degrees, or at least 180 degrees about the fifthrotational axis.

As shown, the first portion 432 of the arm 430 is disposed at a verticalelevation above the second portion 436 of the arm 430. Further, thefirst portion 432 is adapted to translate along a length of the supportstructure 402. Moreover, the grippers 482, 484 are spaced apart fromeach other and at least one of the grippers 482, 484 can include powereddrive element adapted to urge the first tubular in at least one of aradial direction and a longitudinal direction. The powered drive elementcan include powered roller.

Referring now to FIG. 52, the VTHS 400 can include a first tool system490 and a second tool system 492 statically coupled to the verticalsupport structure 402 of the VTHS 400. The tool systems 490, 492 areadapted to perform an operation on one or more tubulars, e.g., a drillpipe or a casing. The tool systems 490, 492 can include at least one ofa torque wrench, a robotic arm, an electric motor, a pipe rack system,or any combination thereof. In particular, the first tool system 490 isa first torque wrench and the second tool system 492 is a second torquewrench. In a particular aspect, the LTH 420 and the UTH 422 are disposedcircumferentially between the first and second torque wrenches 490, 492.

In another aspect, the first torque wrench 490 is disposed at a firstlocation along the vertical support structure 402 and the second torquewrench 492 is disposed at a second location along the vertical supportstructure 402. In one aspect, the first and second locations aredisposed at the same vertical elevation. In another aspect, the firstand second locations are disposed at different vertical elevations.Further, in another aspect, the first torque wrench 490 is adapted toreceive a first tubular having a first diameter and the second torquewrench is adapted to receive a second tubular having a second diameter.In one aspect, the first diameter is different from the second diameter.

In a particular aspect, the LTH 420 and the UTH 422 can be used tohandle tubulars. A method of handling tubulars using the LTH 420 and theUTH 422 can include engaging a first tubular disposed in a generallyhorizontal orientation with a first tubular handler, the first tubularhandler being vertically adjustable with respect to a support structure;reorienting the first tubular to a generally vertical orientation; andengaging the first tubular with a second tubular handler coupled to thesupport structure. Further, the method can include releasing the firsttubular from the first tubular handler; engaging the first tubularhandler with a second tubular disposed in a generally horizontalorientation; reorienting the second tubular to a generally verticalorientation; and axially aligning the first and second tubulars withrespect to one another.

The method can also include threadably engaging the first and secondtubulars together to form a stand of tubulars. Threadably engaging thefirst and second tubulars can be performed with the first tubularengaged with the second tubular handler and the second tubular engagedwith the first tubular handler. At least one of the first and secondtubular handlers comprises a motorized roller adapted to bias the firstor second tubular in at least one of a radial direction and alongitudinal direction. The method can also include moving the stand oftubulars to a first torque wrench coupled to the support structure andengaging the first torque wrench to secure the first and second tubularstogether. Moving the stand of tubulars to the first torque wrench isperformed such that a threaded interface of the stand of tubulars is ata same vertical elevation as the first torque wrench. Further,reorienting the first tubular to the generally vertical orientation isperformed by rotating the first tubular no greater than 120°, or nogreater than 110°, or no greater than 100°, or no greater than 90°.

Engaging the first tubular with the first tubular handler can beperformed when a first longitudinal half of the first tubular is closerto the support structure than a second longitudinal half of the firsttubular, and wherein reorienting the first tubular is performed suchthat the first longitudinal half of the first tubular is disposed at avertical elevation above the second longitudinal half of the firsttubular. In a particular aspect, the first tubular handler can include agripper having at least two spaced apart gripping elements and engagingthe first tubular with the first tubular handler is performed with onlyone of the at least two gripping elements.

In another aspect, reorienting the first tubular to the generallyvertical orientation comprises pivoting portions of the first tubularhandler along three or more rotational pivot axis. Further, reorientingthe first tubular to the generally vertical orientation is performedwhile moving the first tubular handler vertically along the supportstructure. In another aspect, reorienting the first tubular to thegenerally vertical orientation is performed while moving the firsttubular handler upward along the support structure.

The method can further include repositioning the second tubular handlerrelative to the support structure prior to engaging the first tubularwith the second tubular handler. Engaging the first tubular with thesecond tubular handler can be performed when the first tubular is in agenerally vertical orientation.

It is to be understood that the LTH 420, the UTH 422, or a combinationthereof is adapted to engage with tubulars having lengths in a rangebetween and including 36 inches and 480 inches. Further, the LTH 420,the UTH 422, or a combination thereof is adapted to engage with tubularshaving a diameter in a range between and including 5 inches and 80inches. Moreover, the LTH 420, the UTH 422, or a combination thereof isadapted to engage with tubular segments, casing, subs, pipes, BHAs, orany combination thereof.

Referring back FIG. 5, details concerning the robotic arm 500 areillustrated. As shown, the robotic arm 500 can include a base 502mounted on tracks 504 on the drilling rig floor 506. The tracks 504 aredisposed adjacent to a well center area 508 established on the rig floor506. The well center area 508 can include at least one well bore definedby an opening 509 in the rig floor 506.

The tracks 504 allow the robotic arm 500 to traverse the distancebetween well center area 508 toward the tubular storage area 200 (FIG.2). In a particular aspect, the robotic arm 500 can include anarticulating arm 510 extending from the base 502. The articulating arm510 can include a first portion 512 that is pivotably mounted on thebase 502 of the robotic arm 500. It can be appreciated that the roboticarm 500 can include a motor (not shown) that is disposed within thefirst portion 512 of the arm 510. The motor can be a servomotor, astepper motor, or the like. Further, the motor can be used to rotate thefirst portion 512 of the arm 510 around a vertical axis 514 extendingvertically through the first portion 512 of the arm 510. The verticalaxis 514 can be substantially perpendicular to the rig floor 506.

In a particular aspect, the robotic arm 500 and the HTHS 230 areconfigured to interact and exchange objects. The robotic arm 500 can beconfigured to exchange a sub-type tubular with the HTHS 230 in thetubular storage area 200. The robotic arm 500 includes a gripper,described below, and is configured to hold a sub-type tubular in thegripper and pass the sub-type tubular to a gripper 280, 282 of the HTHS230 in the tubular storage area 200.

The well center area 508 can include the VTHS 400 adjacent thereto andthe at least one well bore is disposed between the robotic arm 500 andthe VTHS 400 adjacent to the well center area 508. The robotic arm 500can be configured to interact with VTHS 400 adjacent to the well centerarea 508 and exchange at least one object between a gripper 482, 484 ofthe VTHS and the gripper of the robotic arm 500. The iron roughneck 600may also be adjacent to the well center area 508 and the robotic arm 500can be configured to interact with and exchange objects with the ironroughneck 600.

The first portion 512 of the arm 510 can include a first end 516 and asecond end 518. The second end 518 can be generally cylindrical and asecond portion 520 of the arm 510 can be coupled thereto. Specifically,the second portion 520 of the arm 510 can include a first elongatedplate 522 spaced apart from a second elongated plate 524. Each plate522, 524 is substantially identical and can include a first end 526 anda second end 528. The first ends 526 of the plates 522, 524 of thesecond portion 520 of the arm 510 are configured to fit around thesecond end 518 of the first portion 512 of the arm 510. Further, a motor(not shown) can be installed within the second end 518 of the firstportion 512 of the arm 510. The motor can be a servomotor, a steppermotor, or the like. Further, the motor can rotate the second portion 520of the arm 510 around an axis that extends through a center 530 of thesecond end 518 of the first portion 512 of the arm 510. The axis issubstantially parallel to the drilling rig floor 506.

FIG. 5 further indicates that the articulating arm 510 of the roboticarm 500 can further include a third portion 532 coupled to the secondportion 520 of the arm 510. Specifically, the third portion 532 caninclude a first end 534 and a second end 536. The first end 534 of thethird portion 532 of the arm 510 can be generally cylindrical and canfit within the second ends 528 of the plates 522, 524. Further, thefirst end 534 of the third portion 532 of the arm 510 can include amotor (not shown) disposed therein. The motor can be a servomotor, astepper motor, or the like. When actuated, the motor can cause the thirdportion 532 of the arm 510 to rotate with respect to the second portion520 of the arm along an axis passing through the center 538 of the firstend 534 of the third portion 532 of the arm 510. The axis issubstantially parallel to the drilling rig floor 506.

The arm 510 can further include a fourth portion 540 coupled to thesecond end 536 of the third portion 532 of the arm 510. The arm 510 caninclude a motor within the second end 536 of the third portion 532 ofthe arm 510 or within the fourth portion 540 of the arm. The motor canbe a servomotor, a stepper motor, or the like and can be used to rotatethe fourth portion 540 of the arm 510 with respect to the third portion532 of the arm 510. Finally, the arm 510 can include a gripper 542connected to the fourth portion 540 of the arm 510. The gripper 542 issubstantially identical to the grippers described elsewhere herein. Asdescribed in greater detail below, the robotic arm 510 is configured touse the gripper 542 to exchange a tubular with at least one othersystem, e.g., an iron roughneck (described below), a tubular handler inor near the well center area (i.e., the VTHS 400), a tubular handler inthe tubular storage area (i.e., the HTHS 200), or any combinationthereof.

The articulating arm 510 of the robotic arm 500 can include at least onesensor that is configured to detect a characteristic of a tubular (i.e.,a sub). The at least one characteristic can include a type of tubular, asize of the tubular, a length of the tubular, a diameter of the tubular,an orientation of the tubular, or any combination thereof. The system100 can further include a at least one logic device coupled to thesensor of the articulating arm 510 of the robotic arm 500 that isconfigured to receive information on the characteristic of the tubular.The logic device can be configured to communicate with at least oneother system during an exchange of the tubular from the articulating arm510 of the robotic arm 500 to at least one other system. The at leastone other system can include the iron roughneck (described below), atubular handler in or near the well center area (i.e., the VTHS 400), atubular handler in the tubular storage area (i.e., the HTHS 200), or anycombination thereof. In another aspect, the robotic arm 500 isconfigured for automated movement without external commands.

In a particular aspect, the base 502 can include at least one pivotpoint configured to allow rotation of the at least one arm 510 relativeto the base 502 around a vertical axis. Further, the at least one arm510 can include a first joint overlying the base 502, the first jointincluding a first pivot point having a first pivot axis extendingsubstantially horizontal and configured to allow rotation of the arm 510relative to the base 502. In another aspect, the arm 510 can furtherinclude a second joint spaced apart from the first joint, the secondjoint including a second pivot point having a second pivot axisextending substantially horizontal and configured to allow rotation of afirst part of the arm relative to a second part of the arm.

In another aspect, the arm 510 can further include a third joint spacedapart from the first joint and second joint, the third joint including athird pivot point having a third pivot axis extending along a portion ofthe at least one arm and configured to allow rotation of a third part ofthe arm relative to the second part of the arm 510. The arm 510 canfurther include a fourth joint spaced apart from the first joint, secondjoint and third joint, the fourth joint including a fourth pivot pointhaving a fourth pivot axis extending along a portion of the at least onearm and configured to allow rotation of a fourth part of the armrelative to the third part of the arm.

The robotic arm 500 can be used to conduct subterranean operations. Thatmethod can include moving a tubular between a well center area and atubular storage area by a robotic arm, wherein the robotic arm isconfigured to traverse at least a portion of the distance between thewell center area and the tubular storage area. In one aspect, movingincludes engaging a tubular in the well center area. In another aspect,moving includes engaging a tubular in the tubular storage area. In yetanother aspect, moving includes engaging a tubular near the tubularstorage area.

Engaging includes gripping a tubular with a gripper of the robotic armto support the entire weight of the tubular in the gripper. Moving canalso rotating the robotic arm around at least one of a first pivotpoint, second pivot point, third pivot point or fourth pivot point ofthe robotic arm to change the position of the tubular relative to theposition of the tubular during engaging. Further, moving may includetraversing a distance along the rig floor between a well center area andthe tubular storage area and traversing includes moving the robotic armalong a portion of the rig floor on a track. In another aspect, movingcan include exchanging a tubular with at least one other system selectedfrom the group consisting of an iron roughneck, a tubular handlingsystem in the well center area, a tubular handling system in the tubularstorage area, or any combination thereof. Exchanging can includeengaging the tubular in the gripper of the robotic arm; engaging thetubular within a portion of at least one other system; confirming the atleast one other system has suitably engaged the tubular; and releasingthe gripper of the robotic arm to transfer the entire tubular to the atleast one other system. Engaging the tubular in the gripper of therobotic arm includes sensing at least one characteristic of the tubular,wherein the characteristic is selected from the group consisting of typeof tubular, size of tubular, diameter of tubular, orientation of thetubular, or any combination thereof.

The method can also include placing the robotic arm in a rest position,or neutral position, when not engaging a tubular. In the rest position,the robotic arm can maintain a smaller volume space profile relative tothe volume space profile when engaging a tubular. Further, in the restposition the robotic arm minimizes the volume space profile to increasethe volume available for other systems to move around the robotic armwithout collisions.

As shown in FIG. 6, the system 100 further includes an iron roughneck600. As described in greater detail below, the iron roughneck 600 can beused to couple and torque two tubulars together. Alternatively, the ironroughneck 600 can be used to uncouple two tubulars from each other. Anexample of an iron roughneck 600 is described in detail in patentapplication Ser. No. 14/237,013; filed on Aug. 7, 2012; and published asUnited States Publication number 2014/0305265. Application 2014/0305265is hereby incorporated by reference in its entirety.

FIG. 8 indicates that the system 100 can also include a top drive system(TDS) 800 that can include an elevator 850. As described in detailbelow, the TDS 800 and the elevator 850 can be used to lower tubularsdown into a well bore or retrieve tubulars from the well bore.

Independent and Simultaneous Operation

It is to be understood that the HTHS 230, the VTHS 400, the trackmounted robotic arm 500, the iron roughneck 600, and the TDS 800 canoperate independently of each other, but simultaneously with each other,and in concert with each other. The various modes operations describedbelow list numerous steps that can be performed by the HTHS 230, theVTHS 400, the track mounted robotic arm 500, the iron roughneck 600, andthe TDS 800. Many of these steps are performed at essentially the sametime and save a substantial amount of time when compared to traditionaldrilling operations. During the descriptions below, there areindications as to which steps can be performed at the same time or atessentially the same time. In many cases, the steps overlap each otheras well. In other words, during a long step, such as lowering the TDS800, numerous other steps may be performed by the VTHS 400, the roboticarm 500, the iron roughneck 600, and the TDS 800. These other steps maynot require the same amount of time to be performed as lowering the TDS800, but they are performed while the TDS 800 is lowered in an effort toprovide the most efficient use of time while operating the variouscomponents of the system 100. For example, while the TDS 800 is drivinga drill pipe into a well, the HTHS 230 may be retrieving another drillpipe from the horizontal drill pipe rack 206 and the VTHS 400 may bemoving into position to retrieve the drill pipe from the HTHS 230 as thedrill pipe is extended from the tubular storage area into the wellcenter area 508 by the HTHS 230. The descriptions of the variousexemplary methods of operating below include as many notations aspossible as to which steps can be performed at the same time. It is tobe understood that this is not inclusive and is not considered to belimiting. Various other combinations of steps listed below (or notlisted, but capable of being performed by the system 100) may also beperformed at the same time or essentially the same time or duringoverlapping time periods.

Methods of Conducting Subterranean Operations

Referring now to FIG. 168 through FIG. 191, a series of flowcharts areillustrated that depict a method 16800 of conducting a subterraneanoperation. Throughout the description of these flowcharts, elements thatappear in the FIG. 1 through FIG. 167 may be referenced. The referencedelements can perform the particular operation or function mentioned inthe flowchart step. Further, there may be parenthetical notations withspecific figures referenced. These parenthetical notations indicate thespecific figure (in FIG. 1 through FIG. 167) in which the performance ofa particular operation or function is depicted. It is to be understoodthat the elements and figures referenced are examples and the system 100is not limited to only the particular element cited performing theoperation or function. Moreover, any figures referenced provide examplesof how the performance of a particular step may appear and are notintended to be limiting as to the only manner in which a step may beperformed. Also, some steps may not appear in the figures.

Commencing at step 16802, the system 100 can move the robotic arm 500into position adjacent to the well center area 508 (FIG. 5). At step16804, the system 100, using the gripper 542 on the robotic arm 500, canremove the well center cover (FIG. 9). Further, at step 16805, thesystem 100 can return the robotic arm 500 to a neutral position, or restposition, where the robotic arm 500 can place the well cover on thefloor.

While the system 100 is performing steps 16802 through steps 16805 usingthe robotic arm 500, the system 100 can perform one or more of steps16806 through 16904. Specifically, at step 16806, the system 100 canmove the horizontal tubular handling system (HTHS) 230 in a firstdirection along a first horizontal axis to a position over a horizontalBHA storage rack 208 (FIG. 10). It is to be appreciated that the firstdirection is toward the horizontal BHA storage rack 208. Thereafter, thesystem 100 can move the transverse member 242 in the HTHS 230 along thebridge 232 of the HTHS 230 in a second direction along a secondhorizontal axis perpendicular to the first horizontal axis (FIG. 11). Atstep 16810, the system 100 can rotate the arm 244 of the HTHS 230 downand outward from the bridge of the HTHS 230 (FIG. 11). Moreover, at step16812, the system 100 can open the first gripper 280 and the secondgripper 280 on the arm 244 of the HTHS 230 (FIG. 11). Steps 16810 and16812 can be performed at the same time.

At step 16814, the system 100 can move the first and second grippers280, 280 into position around the BHA 210 so that the first gripper 280is near the distal end of the BHA 210 (FIG. 11). Then, at step 16816,the system 100 can close the grippers around the BHA 210. At step 16818,the system 100 can verify that the BHA 210 is engaged with grippers 280,282 on the arm 244 of the HTHS 230. At step 16820, if the grippers 280,282 are not engaged, the method 16800 may proceed to step 16822 and thesystem 100 can adjust the grippers 280, 282. Thereafter, the method16800 may return to step 16818 and proceed as described. At step 16820,if the grippers 280, 282 are engaged, the method 16800 may proceed tostep 16824 and the system 100 can retrieve the BHA 210 from the BHAstorage rack 208 (FIG. 12).

Thereafter, the method 16800 may continue to step 16902 of FIG. 169 andthe system 100 may move the HTHS 230 in a second direction along thefirst horizontal axis away from the horizontal BHA storage rack 208 andtoward the horizontal transfer position (FIG. 12). At step 16904, thesystem 100, using the arm 244 of the HTHS 230, can rotate the BHA 210approximately 180 degrees (FIG. 13). Steps 16902 and 16904 can beperformed at the same time. At step 16906, the system 100 can extend theBHA 210 from the tubular storage area 200 to the well bore area 300 inalong a third horizontal axis (FIG. 13).

While the system 100 is performing steps 16902 through 16906 with theHTHS 230, the system 100 can use the VTHS 400 to perform steps 16908through 16912. In particular, at step 16908, the system 100 can lowerthe LTH 420 of the VTHS 400 along a first vertical axis (FIG. 13).Further, at step 16910, the system 100 can rotate the arm 430 of the LTH420 of the VTHS 400 to a horizontal transfer position (FIG. 14). At step16912, the system 100 can open a first gripper 482 and a second gripper484 on the arm 430 of the LTH 420 of the VTHS 400 (FIG. 14) and at step1614, the system 100 can move the grippers 482, 484 around the BHA 210spanning the center of the BHA 210 and one of the grippers 280, 282 onthe arm 244 of the HTHS 230 (FIG. 14).

Moving to step 16916, the system 100 can close the first and secondgrippers on the arm 430 of the LTH 420 of the VTHS 400. At step 16918,the system 100 can verify that the LTH 420 of the VTHS 400 is engagedwith the BHA 210. At step 16920, if the LTH 420 of the VTHS 400 is notengaged with the BHA 210, the method 16800 can proceed to step 16922 andthe system 100 can adjust the grippers 482, 484. Then, the method 16800can return to step 16918 and proceed as described. Otherwise, at step16920, if the LTH 420 of the VTHS 400 is engaged with the BHA 210, themethod 16800 can proceed to step 17002 of FIG. 170.

At step 17002, the system 100 can open the first and second grippers280, 282 on the arm 244 of the HTHS 230. Next, at step 17004, the system100 can transfer the BHA 210 from the arm 244 of the HTHS 230 to the arm430 of the LTH 420 of the VTHS 400 (FIG. 15). At step 17006, the system100 can rotate the BHA 210 from a horizontal position to a verticalposition using the arm 430 of the LTH 420 of the VTHS 400 (FIG. 15). Atstep 17008, the system 100 can retract the arm 244 of the HTHS 230.Further, at step 17010, the system 100 can return the HTHS 230 to aneutral or standby position. The system 100 can perform steps 17008 and17010 while it is performing step 17006.

At step 17012, the system 100 can rotate the BHA 210 and the LTH 420 ofthe VTHS 400 around a second vertical axis while extending themulti-link arm 430 outwardly from the vertical support structure 402. Atstep 17014, the system 100 can align the BHA 210 with the well centeropening (FIG. 16). Moving to step 17016, the system 100 hold the BHA 210over the well center opening (FIG. 16). At step 17018, the system 100can lower the top drive system (TDS 800) along a third vertical axisaligned with the well center opening (FIG. 17). At step 17020, thesystem 100 can and at step 17022, the system 100 can open the tubularclamp on the elevator 850 of the TDS 800 (FIG. 17). Further, at step17022, the system 100 can move the elevator 850 around an upper end ofthe BHA 210 (FIG. 17). Thereafter, the method 16800 can move to step17102 of FIG. 171. The system 100 can perform steps 17012 through 17016while performing steps 17018 and 17020.

At step 17102, the system 100 can close the tubular clamp on theelevator 850 of the TDS 800 around the upper end of the BHA 210 toengage the BHA 210 (FIG. 18). At step 17104, the system 100 can move theTDS 800 and the LTH 420 of the VTHS 400 in a downward direction until alower end of the BHA 210 extends through the well center opening (FIG.20). At step 17106, the system 100 can verify that the elevator 850 ofthe TDS 800 is engaged with the BHA 210 (i.e., perform handshake). Ifthe elevator 850 is not engaged with the BHA 210, the method 16800 canproceed to step 17110 and the system 100 can re-engage the elevator 850with the BHA 210. Thereafter, the method 16800 may return to step 17106and continue as described. Conversely, at step 17108, if the elevator850 is engaged with the BHA 210, the method 16800 may proceed to step17112 and the system 100 can open the grippers on the LTH 420 of theVTHS 400 (FIG. 21). At step 17114, the system 100 can transfer BHA 210to the elevator 850 of the TDS 800. At step 17116, the system 100 canretract the arm 430 of the LTH 420 of the VTHS 400 (FIG. 22). Moving tostep 17118, the system 100 can lower the TDS 800 toward to the wellcenter area 508 (FIG. 22). At step 17120, the system 100 can lock theBHA 210 in the well center opening. Thereafter, at step 17122, thesystem 100 can open the tubular clamp on the elevator 850. At step17124, the system 100 can release the BHA 210. Further, at step 17126,the system 100 can raise the TDS 800 away from the well center area 508(FIG. 23). Then, the method 16800 may proceed to step 17202 of FIG. 172.

While the system 100 performs steps 17118 through 17126, the system 100can use the VTHS 400 to perform one or more of steps 17202 through17218. Further, at substantially the same time, the system 100 can usethe robotic arm 500 to perform one or more of steps 17220 through 17306and the system 100 can use the HTHS 230 to perform steps 17308 and17310. Specifically, at step 17202, the system 100 can move the LTH 420of the VTHS 400 upward along the vertical support (FIG. 22). At step17204, the system 100 can rotate the arm 430 of the LTH 420 around thesecond vertical axis toward the vertical tubular storage rack 702 (FIG.22). Moreover, at step 17206, the system 100 can extend the arm 430 ofthe LTH 420 into the vertical tubular storage rack 702 and around adrill pipe 206 (FIG. 22). At step 17208, the system 100 can close thegrippers on the arm 430 of the LTH 420 of the VTHS 400 around the drillpipe 206 (FIG. 22). Thereafter, at step 17210, the system 100 can verifythat the grippers 482, 484 on the arm 430 of the LTH 420 of the VTHS 400are engaged with the drill pipe 206. If the grippers 482, 482 are notengaged with the drill pipe 206, the method 16800 may proceed to step17214 and the system 100 can adjust the grippers 482, 482. Thereafter,the system 100 can proceed to step 17210 and continue as described.

On the other hand, at step 17212, if the grippers 482, 484 are engagedwith the drill pipe 206, the method 16800 may continue to step 17216 andthe system 100 retrieve the drill pipe 206 from the vertical tubularstorage rack 702 using the LTH 420 of the VTHS 400 (FIG. 240. Then, atstep 17218, the system 100 can dip the threads of the drill pipe 206into the dopant container (FIG. 25).

Proceeding to step 17220, the system 100 can open the gripper 542 of therobotic arm 500 (FIG. 23). Next, at step 17224, the system 100 can movegripper 542 of the robotic arm 500 around the sub attached to the BHA210 (FIG. 24). At step 17224, the system 100 can close the gripper 542of the robotic 500 around the sub attached to the BHA 210 (FIG. 25).Then, the method 16800 may proceed to step 17302 of FIG. 173.

At step 17302 of FIG. 173, the system 100 can de-couple the sub from theBHA 210 using the gripper 542 of the robotic arm 500 (FIG. 25). At step17304, the system 100 can move the robotic arm 500 toward the tubularmember horizontal storage area (FIG. 26). At step 17306, the system 100can rotate the sub from a vertical position to a horizontal positionusing the robotic arm 500 (FIG. 27). At step 17308, the system 100 canopen the gripper 280 on the arm 244 of the HTHS 230 (FIG. 26). Further,at step 17310, the system 100 can extend the gripper 280 on the arm 244of the HTHS 230 into the well bore area 300 (FIG. 26). At step 17312,the system 100 can insert the sub into the gripper on the arm 244 of theHTHS 230 using the robotic arm 500 (FIG. 27). At step 17314, the system100 can close the gripper on the arm 244 of the HTHS 230 around the sub(FIG. 28). Thereafter, at step 17318, the system 100 can verify that thegripper 280 on the arm 244 of the HTHS 230 is engaged with the sub. Atstep 17318, if the gripper 280 is not engaged with the sub, the method16800 can proceed to step 17320 and the system 100 can adjust thegripper 280. Thereafter, the method 16800 can return to step 17316 andcontinue as described. At step 17320, if the gripper 280 is engaged withthe sub, the method 16800 can proceed to step 17322 and the system 100can transfer the sub to the arm 244 of the HTHS 230 (FIG. 29).Thereafter, at step 17324, the system 100 can return robotic arm 500 toa neutral or standby position (FIG. 30). While the system 100 returnsthe robotic arm 500 to the neutral or standby position, they system 100can use the HTHS 230 to perform steps 17326 through 17406. Inparticular, at step 17326, the system 100 can rotate the sub to avertical position using the arm 244 on the HTHS 230 (FIG. 30).

The method 16800 can then proceed to step 17402 of FIG. 174 and thesystem 100 can move the sub into the horizontal tubular member storagearea using the HTHS 230 (FIG. 31). At step 17404, the system 100 canlower the sub onto a vertical storage rack in the tubular storage area200 using the HTHS 230 (FIG. 32). At step 17406, the system 100 canreturn the HTHS 230 to a neutral or standby position. While the system100 moves the HTHS 230 as described in steps 17326 through 17406, thesystem 100 can perform steps 17408 through 17414. At step 17408, thesystem 100 can rotate the arm 430 of the LTH 420 of the VTHS 400 and thedrill pipe 206 into position over the well center (FIG. 26). At step17410, the system 100 can extend the iron roughneck 600 into the wellcenter area 508 around the well center and the drill pipe 206 (FIG. 27).At step 17412, the system 100 can couple the drill pipe 206 to the BHA210 using the grippers on the arm 430 of the LTH 420 of the VTHS 400(FIG. 28). At step 17414, the system 100 can torque the drill pipe 206using the iron roughneck 600 (FIG. 30).

At step 17416, the system 100 can return the iron roughneck 600 to aneutral or standby position (FIG. 32). While the system 100 returns theiron roughneck 600 to the neutral position, the system 100 can lower theTDS 800 toward the well center area 508 (FIG. 33) at step 17418.Further, while the system 100 lowers the TDS 800, the system 100 canperform steps 17420 through 17510 with the VTHS 400. Specifically, atstep 17420, the system 100 can rotate the arm 430 of the LTH 420 aroundthe second vertical axis toward the vertical tubular storage area 200(FIG. 33) and at step 17422, the system 100 can extend the arm 430 ofthe LTH 420 into the vertical tubular storage area 200 and around thenext drill pipe 206 (FIG. 33). Then, at step 17424, the system 100 canclose the grippers on the arm 430 of the LTH 420 of the VTHS 400 aroundthe next drill pipe 206 (FIG. 33).

Proceeding to step 17502 of FIG. 175, the system 100 can verify that thegrippers 482, 484 on the arm 430 of the LTH 420 of the VTHS 400 areengaged with the next drill pipe 206. Then, at step 17504, if thegrippers 482, 484 are not engaged with the next drill pipe 206, themethod 16800 may proceed to step 17506 and the system 100 may adjust thegrippers 482, 484. The method 16800 can then return to step 17502 andcontinue as described herein. Returning to step 17504, if the grippers482, 484 are engaged with the next drill pipe 206, the method 16800 mayproceed to step 17508 and the system 100 may retrieve the next drillpipe 206 from the vertical tubular storage area 200 using the LTH 420 ofthe VTHS 400 (FIG. 33). Then, at step 17510, the system 100 can dip thethreads of the next drill pipe 206 into the dopant container (FIG. 34).Moreover, at step 17511, the system 100 can raise the TDS 800 away fromthe well center area 508.

While the system 100 raises the TDS 800 at step 17511, the system 100can rotate the arm 430 of the LTH 420 of the VTHS 400 and the drill pipe206 into position over the previous drill pipe 206 (FIG. 36) at step17512 and the system 100 can extend the iron roughneck 600 into the wellcenter area 508 around the well center, the previous drill pipe 206, andthe next drill pipe 206 (FIG. 37) at step 17514. Moving to step 17516,the system 100 can couple the next drill pipe 206 to the previous drillpipe 206 using the grippers 482, 484 on the arm 430 of the LTH 420 ofthe VTHS 400 (FIG. 38). At step 17518, the system 100 can torque thedrill pipe 206 s using the iron roughneck 600 (FIG. 40). At step 17519,the system 100 can return the iron roughneck to a neutral or standbyposition. Thereafter, at step 17520, the system 100 can move the HTHS230 in a first direction along a first horizontal axis to a positionaligned with a vertical storage rack 216 in the tubular storage area200, while the system 100 returns the iron roughneck to the neutralposition.

The method 16800 can then proceed to step 17602 of FIG. 176 and thesystem 100 move the transverse member 242 in the HTHS 230 along thebridge of the HTHS 230 in a second direction along a second horizontalaxis perpendicular to the first horizontal axis (FIG. 40). At step17604, the system 100 can rotate the arm 244 of the HTHS 230 down andoutward from the bridge of the HTHS 230 until the arm 244 issubstantially vertical (FIG. 40). At step 17606, the system 100 can openthe first gripper 280 on the arm 244 of the HTHS 230 (FIG. 40). At step17608, the system 100 can move the first gripper 280 into positionaround a sub stored on the vertical storage rack 216 (FIG. 40). Further,at step 17610, the system 100 can close the first gripper on the arm 244of the HTHS 230 around the sub (FIG. 41). At step 17612, the system 100can retrieve the sub from the vertical storage rack 216 (FIG. 41). Atstep 17614, the system 100 can rotate the arm on the HTHS 230 until thesub is substantially horizontal. At step 17616, the system 100 can movethe HTHS 230 along the first horizontal axis toward the VTHS 400.Moreover, at step 17618, the system 100 can extend the arm 244 of theHTHS 230 and the sub into the well bore area 300.

While the system 100 moves the HTHS 230 as described in steps 17520through 17618, the system 100 can engage the TDS 800 with the next drillpipe at step 17619 and at step 17620, the system 100 can lower the LTH420 of the VTHS 400 along the first vertical axis. At step 17621, thesystem 100 can lower the TDS 800 toward the well center area. While thesystem 100 lowers the TDS 800, the system 100 can perform one or more ofsteps 17622 through 17712 with the VTHS 400. In particular, at step17622, the system 100 can rotate the arm 430 of the LTH 420 of the VTHS400 to a horizontal transfer position (FIG. 42). Then the method 16800can continue to step 17702 of FIG. 177.

At step 17702, the system 100 can open a first gripper 482 on the arm430 of the LTH 420 of the VTHS 400 (FIG. 42). At step 17704, the system100 can move the first gripper 482 on the LTH 420 of the VTHS 400 aroundthe sub adjacent to the first gripper 280 on the arm 244 of the HTHS 230(FIG. 42). At step 17706, the system 100 can close the first gripper 280on the arm 430 of the LTH 420 of the VTHS 400. At step 17708, the system100 can verify that the LTH 420 of the VTHS 400 is engaged with the BHA210. At step 17710, if the LTH 420 of the VTHS 400 is not engaged withthe BHA 210, the method 16800 can proceed to step 17712 and the system100 can adjust the first gripper 482. The method 16800 may then returnto step 17708 and continue as described. On the other hand, at step17710, if the LTH 420 of the VTHS 400 is engaged with the BHA 210, themethod 16800 can proceed to step 17714 and the system 100 can open thefirst gripper on the arm 244 of the HTHS 230. Further, at step 17716,the system can transfer the sub from the arm 244 of the HTHS 230 to thearm 430 of the LTH 420 of the VTHS 400. At step 17718, the system 100can retract the arm 244 of the HTHS 230. Further, at step 17720, thesystem 100 can rotate the sub from a horizontal position to a verticalposition using the arm 430 of the LTH 420 of the VTHS 400. At step17722, the system 100 can return the HTHS 230 to a neutral or standbyposition. The system 100 can retract the arm of the HTHS, at step 17718,and return the HTHS to the neutral position, at step 17722, whileperforming step 17720. The method 16800 may then proceed to FIG. 178.

As step 17802, the system 100 can extend the arm 430 of the LTH 420 ofthe VTHS 400 and the sub into position over the dopant container. Asstep 17804, the system 100 can dip the threads of the sub into thedopant container (FIG. 43). While performing steps 17802 and 17804, thesystem 100, the system 100 can open the tubular clamp on the elevator850 at step 17806 and at step 17808, the system 100 can release thedrill pipe 206. Further, while performing steps 17802 and 17804, thesystem 100 can raise the TDS 800 away from the well center area 508(FIG. 44) at step 17810.

While raising the TDS 800 at step 17810, the system 100 can perform oneor more of steps 17812 through 17821. Specifically, at step 17812, thesystem 100 can raise the sub out of the dopant container (FIG. 44). Atstep 17814, the system 100 can rotate the LTH 420 of the VTHS 400 andthe sub around the second vertical axis while extending the multi-linkarm 430 outwardly from the vertical support structure 402. Thereafter,at step 17816, the system 100 can align the sub with the well centeropening and the previous drill pipe 206 (FIG. 45). At step 17818, thesystem 100 can extend the iron roughneck 600 into the well center area508 around the well center and the drill pipe 206 (FIG. 45). Further, atstep 17820, the system 100 can couple the sub to the previous drill pipe206 using the gripper 482 on the arm 430 of the LTH 420 of the VTHS 400(FIG. 46). The system 100 can extend the iron roughneck 600 in step17818 while performing one or more of steps 17812, 17814, 17816, and17820 with the VTHS 230.

At step 17821, the system 100 can release the sub from the gripper 482on the arm 430 of the LTH 420 of the VTHS 400. At step 17822, the system100 can torque the drill pipe 206 using the iron roughneck 600 whilereleasing the gripper 482 on the arm 430 from the sub (FIG. 48). Movingto step 17824, the system 100 can return the iron roughneck 600 to aneutral or standby position (FIG. 49).

Proceeding to step 17902 of FIG. 179, while returning the iron roughneck600 to the neutral position, in step 17824, the system 100 can rotatethe VTHS 400 toward the vertical tubular storage rack 700. At step17904, the system 100 can move the LTH 420 and the UTH 422 of the VTHS400 upward along the vertical support. Further, at step 17906, thesystem 100 can move the arm 430 of the LTH 420 and the arm of the UTH422 into the vertical transfer position. At step 17908, the system 100can open the first gripper and second gripper on the arm 430 of the LTH420 and the first gripper and the second gripper on the arm of the UTH422. At step 17910, the system 100 can extend the grippers on the armsof the LTH 420 and UTH 422 into the vertical tubular storage area 200and around a next drill pipe 206 (FIG. 49). Further, at step 17912, thesystem 100 can close the grippers 482, 484 on the arms 430 of the LTH420 and UTH 422 of the VTHS 400 around the next drill pipe 206 (FIG.49). At step 17914, the system 100 can verify that the grippers 482, 484on the arms 430 of the LTH 420 and UTH 422 of the VTHS 400 are engagedwith the next drill pipe 206. At step 17916, if the grippers 482, 484are not engaged, the method 16800 can proceed to step 17918 and thesystem 100 can adjust the grippers 482, 484. Thereafter, the method16800 can return to step 17914 and continue as described. At step 17916,if the grippers 482, 484 are engaged, the method 16800 can proceed tostep 17920 and the system 100 can retrieve the next drill pipe 206 fromthe vertical tubular storage area 200 using the LTH 420 of the VTHS 400(FIG. 49). Thereafter, at step 17922, the system 100 can retract thearms of the LTH 420 and UTH 422 of the VTHS 400 toward the verticalsupport member of the VTHS 400 (FIG. 50). Then, the method 16800 canmove to FIG. 180.

At step 18002 of FIG. 180, the system 100 can rotate the VTHS 400 towardthe dopant container (FIG. 51). At step 18004, the system 100 can extendthe arms of the LTH 420 and UTH 422 of the VTHS 400 away from thevertical support member of the VTHS 400 and into position with the nextdrill pipe 206 aligned with the dopant container (FIG. 51). Thereafter,at step 18006, the system 100 can dip the threads of the next drill pipe206 into the dopant container. At step 18008, the system 100 can raisethe next drill pipe 206 out of the dopant container. At step 18010, thesystem 100 can rotate the LTH 420 and the UTH 422 of the VTHS 400 andthe next drill pipe 206 around the second vertical axis while extendingthe arms outwardly from the vertical support structure 402 (FIG. 52).Moreover, at step 18012, the system 100 can align the next drill pipe206 with the well center opening and the previous drill pipe 206. Atstep 18014, the system 100 can extend the iron roughneck 600 into thewell center area 508 around the well center, the next drill pipe 206,and the previous drill pipe 206 (FIG. 52). At step 18016, the system 100can couple the next drill pipe 206 to the previous drill pipe 206 usingthe gripper on the arm 430 of the LTH 420 of the VTHS 400. The system100 can extend the iron roughneck 600 in step 18014 while performing oneor more of steps 18008, 18010, 18012, and 18016 with the VTHS 230. Atstep 18018, the system 100 can lower the TDS 800 toward the upper end ofthe next drill pipe 206. Then, the method 16800 can proceed to FIG. 181.

At step 18102, the system 100 can open the tubular clamp on the elevator850 of the TDS 800 (FIG. 53). Then, at step 18104, the system 100 canmove the elevator 850 around an upper end of the BHA 210 (FIG. 53). Atstep 18106, the system 100 can close the tubular clamp on the elevator850 of the TDS 800 around the upper end of the next drill pipe 206 (FIG.54). At step 18108, the system 100 can verify that the elevator 850 ofthe TDS 800 is engaged with the next drill pipe 206. As step 18110, ifthe elevator 850 is not engaged with the next drill pipe 206, the method16800 can move to step 18112 and the system 100 can re-engaged theelevator 850 with the next drill pipe 206. The method 16800 may thenreturn to step 18108 and continue as described herein. It is to beunderstood that the system 100 can perform one or more of steps 18018through 18112 with the TDS 800 while performing one or more of steps18008 through 18016 with the VTHS 400 and the iron roughneck 600.

Returning to step 18110, if the elevator 850 is engaged with the nextdrill pipe 206, the method 16800 may continue to step 18114 and thesystem 100 can open the grippers 482, 484 on the LTH 420 and the UTH 422of the VTHS 400 (FIG. 55). At step 18116, the system 100 can torque thedrill pipe 206 using the iron roughneck 600 (FIG. 55) at essentially thesame time as the system 100 performs step 18114. As step 18118, thesystem 100 can transfer the next drill pipe 206 to the elevator 850 ofthe TDS 800 (FIG. 55). As step 18120, the system 100 can retract thearms of the LTH 420 and the UTH 422 of the VTHS 400 (FIG. 55) and atessentially the same time, at step 18122, the system 100 can return theiron roughneck 600 to a neutral or standby position (FIG. 56). At step18124, the system 100 can lower the TDS 800 toward the well center area508 (FIG. 57).

While lowering the TDS 800, at step 18124, the system 100 can performone or more of steps 18202 through 18222. Specifically, at step 18202 ofFIG. 182, the system 100 can rotate the VTHS 400 toward the verticaltubular storage rack 702 (FIG. 58). At step 18204, the system 100 canmove the LTH 420 and the upper tubular handler (UTH 422) of the VTHS 400upward along the vertical support. At step 18206, the system 100 canmove the arm 430 of the LTH 420 and the arm of the UTH 422 into thevertical transfer position. At step 18208, the system 100 can open thefirst gripper 482 and second gripper 484 on the arm 430 of the LTH 420and the first gripper 482 and the second gripper 484 on the arm of theUTH 422. At step 18210, the system 100 can extend the grippers on thearms of the LTH 420 and UTH 422 into the vertical tubular storage area200 and around a next drill pipe 206. Further, at step 18212, the system100 can close the grippers on the arms of the LTH 420 and UTH 422 of theVTHS 400 around the next drill pipe 206. At step 18214, the system 100can verify that the grippers 482, 484 on the arms 430 of the LTH 420 andUTH 422 of the VTHS 400 are engaged with the next drill pipe 206. Atstep 18216, if the grippers 482, 484 are not engaged with the next drillpipe 206, the method 16800 can proceed to step 18218 and the system 100can adjust the grippers 482, 484. The method 16800 can then return tostep 18214 and continue as described herein.

Returning to step 18216, if the grippers 482, 484 are engaged with thenext drill pipe 206, the method can proceed to step 18220 and the system100 can retrieve the next drill pipe 206 from the vertical tubularstorage area 200 using the LTH 420 of the VTHS 400. At step 18222, thesystem 100 can retract the arms of the LTH 420 and UTH 422 of the VTHS400 toward the vertical support member of the VTHS 400. The method 16800may then proceed to FIG. 183.

At step 18300, the system 100 can release the next drill pipe from theTDS 800. Further, at step 18301, the system 100 can raise the TDS 800away from the well center area 508. As the system 100 raises the TDS800, the system 100 can perform one or more of steps 18302 through 18312with the VTHS 400. Specifically, at step 18302, the system 100 canrotate the VTHS 400 toward the dopant container (FIG. 58). At step18304, the system 100 can extend the arms of the LTH 420 and UTH 422 ofthe VTHS 400 away from the vertical support member of the VTHS 400 andinto position with the next drill pipe 206 aligned with the dopantcontainer (FIG. 58). At step 18306, the system 100 can dip the threadsof the next drill pipe 206 into the dopant container. At step 18308, thesystem 100 can raise the next drill pipe 206 out of the dopantcontainer. At step 18310, the system 100 can rotate the LTH 420 and theUTH 422 of the VTHS 400 and the next drill pipe 206 around the secondvertical axis while extending the arms outwardly from the verticalsupport structure 402 (FIG. 59). At step 18312, the system 100 can alignthe next drill pipe 206 with the well center opening and the previousdrill pipe 206 (FIG. 59). At step 18314, the system 100 can extend theiron roughneck 600 into the well center area 508 around the well center,the next drill pipe 206, and the previous drill pipe 206 (FIG. 59). Thesystem 100 can extend the iron roughneck 600, at step 18314, whileperforming steps 19310 and 18312 with the VTHS 400. At step 18316, thesystem 100 can couple the next drill pipe 206 to the previous drill pipe206 using the grippers 482, 484 on the arms 430 of the LTH 420 and theUTH 422 of the VTHS 400 (FIG. 59). While performing step 18316 with theVTHS 400, the system 100 can also perform one or more of steps 18318through 18412. At step 18318, the system 100 can lower the TDS 800toward the upper end of the next drill pipe 206.

Proceeding to step 18402 of FIG. 184, the system 100 can open thetubular clamp on the elevator 850 of the TDS 800. At step 18404, thesystem 100 can move the elevator 850 around an upper end of the nextdrill pipe 210. At step 18406, the system 100 can close the tubularclamp on the elevator 850 of the TDS 800 around the upper end of thenext drill pipe 206. Further, at step 18408, the system 100 can verifythat the elevator 850 of the TDS 800 is engaged with the next drill pipe206. At step 18410, if the system 100 verifies that the elevator 850 ofthe TDS 800 is not engaged with the next drill pipe 206, the method16800 can proceed to step 18412 and the system 100 can re-engage theelevator 850 of the TDS 800 with the next drill pipe 206. The method16800 may then return to step 18408 and continue as described. Returningto step 18410, if the system 100 verifies that the elevator 850 of theTDS 800 is engaged with the next drill pipe 206, the method 16800 maycontinue to step 18414 and the system 100 can open the grippers 482, 484on the LTH 420 and the UTH 422 of the VTHS 400. At step 18416, thesystem 100 can transfer the next drill pipe 206 to the elevator 850 ofthe TDS 800. At step 18418, the system 100 can retract the arms of theLTH 420 and the UTH 422 of the VTHS 400. Then, at step 18420, the system100 can torque the drill pipe 206 using the iron roughneck 600. At step18422, the system 100 can return the iron roughneck 600 to a neutral orstandby position. Moreover, at step 18424, the system 100 can lower theTDS 800 toward the well center area 508. It can be appreciated that thesystem 100 can begin lowering the TDS 800 while returning the ironroughneck to the neutral position. At step 18426, the system 100 canrelease the drill pipe from the TDS. Further, at step 18428, the system100 can raise the TDS away from the well center area.

While the system 100 performs steps 18424 through 18428, the system 100can also perform one or more of steps 18502 through 18604. Inparticular, at step 18502 of FIG. 185, the system 100 can move the HTHS230 in a first direction along a first horizontal axis to a positionover a horizontal drill pipe 206 rack. At step 18504, the system 100 canmove the transverse member 242 in the HTHS 230 along the bridge of theHTHS 230 in a second direction along a second horizontal axisperpendicular to the first horizontal axis. At step 18506, the system100 can rotate the arm 244 of the HTHS 230 down and outward from thebridge of the HTHS 230. At step 18508, the system 100 can open the firstgripper 280 and the second gripper 282 on the arm 244 of the HTHS 230.Further, at step 18510, the system 100 can move the first and secondgrippers 280, 282 into position around the drill pipe 206 so that thefirst gripper 280 is near the distal end of the drill pipe 206. At step18512, the system 100 can close the grippers 280, 282 around the drillpipe 206. At step 18514, the system 100 can verify that the drill pipe206 is engaged with the grippers 280, 282 on the arm 244 of the HTHS230. At step 18516, if the drill pipe 206 is not engaged with thegrippers 280, 282 on the arm 244 of the HTHS 230, the method 16800 canproceed to step 18518 and the system 100 can adjust the grippers 280,282. Thereafter, the method 16800 can return to step 18514 and continueas described. Returning to step 18516, if the drill pipe 206 is engagedwith the grippers 280, 282 on the arm 244 of the HTHS 230, the method16800 can proceed to step 18520 and the system 100 can retrieve thedrill pipe 206 from the horizontal drill pipe 206 storage rack. Then,the method 16800 can continue to step 18602 of FIG. 186.

At step 18602, the system 100 can move the HTHS 230 in a seconddirection along the first horizontal axis away from the horizontal drillpipe 206 storage rack. At step 18604, the system 100, using the arm 244of the HTHS 230, can rotate the drill pipe 206 180 degrees.

At step 18606, the system 100 can extend the drill pipe 206 from thetubular storage area 200 to the well bore area 300 along a thirdhorizontal axis (FIG. 61). While performing step 18606 with the HTHS230, the system 100 can perform one or more of steps 18606 through18622. At step 18608, the system 100 can lower the LTH 420 of the VTHS400 along the first vertical axis (FIG. 60). At step 18610, the system100 can rotate the arm 430 of the LTH 420 of the VTHS 400 to ahorizontal transfer position (FIG. 61). At step 18612, the system 100can open the first gripper 482 and the second gripper 484 on the arm 430of the LTH 420 of the VTHS 400 (FIG. 61). At step 18614, the system 100can move the grippers 482, 484 around the drill pipe 206 spanning one ofthe grippers 280, 282 on the arm 244 of the HTHS 230 (FIG. 62). At step18616, the system 100 can close the first and second grippers on the arm430 of the LTH 420 of the VTHS 400. Further, at step 18618, the system100 can verify that the LTH 420 of the VTHS 400 is engaged with thedrill pipe 206. At step 18620, if the LTH 420 of the VTHS 400 is notengaged with the drill pipe 206, the method 16800 can proceed to step18622 and the system 100 can adjust the grippers 482, 484. Then, themethod 16800 can return to step 18618 and continue as described.Returning to step 18620, if the LTH 420 of the VTHS 400 is engaged withthe drill pipe 206, the method 16800 can proceed to step 18702 of FIG.187.

At step 18702, the system 100 can open the first and second grippers onthe arm 244 of the HTHS 230 (FIG. 63). At step 18704, the system 100 cantransfer the drill pipe 206 from the arm 244 of the HTHS 230 to the arm430 of the LTH 420 of the VTHS 400. At step 18706, the system 100 canrotate the drill pipe 206 from a horizontal position to a verticalposition using the arm 430 of the LTH 420 of the VTHS 400 (FIG. 64).While performing step 18706, the system 100 can also perform steps 18708and 18710. At step 18708, the system 100 can retract the arm 244 of theHTHS 230. Further, at step 18710, the system 100 can return the HTHS 230to retrieve the next drill pipe 206 from the horizontal drill pipe 206storage rack. At step 18712, the system 100 can rotate the arm on theUTH 422 of the VTHS 400 to a vertical transfer position (FIG. 64). Atstep 18714, the system 100 can vertically align the arm of the UTH 422with the arm 430 of the LTH 420. Moreover, at step 18716, the system 100can open the first gripper and the second gripper on the arm of the UTH422 of the VTHS 400. At step 18718, the system 100 can lower the UTH 422of the VTHS 400 (FIG. 65). At step 18720, the system 100 can extend thearm of the UTH 422 until the grippers are around the drill pipe 206above the grippers on the arm 430 of the LTH 420. The method 16800 canthen proceed to FIG. 188.

At step 18802 of FIG. 188, the system 100 can close the grippers on thearm of the UTH 422 around the drill pipe 206 (FIG. 66). At step 18804,the system 100 can verify that the UTH 422 of the VTHS 400 is engagedwith the drill pipe 206. At step 18806, if the UTH 422 is not engagedwith the drill pipe 206, the method 16800 can proceed to step 18808 andthe system 100 can adjust the grippers 482, 484 on the UTH 422.Thereafter, the method 16800 can return to step 18804 and continue asdescribed. On the other hand, at step 18806, if the UTH 422 is engagedwith the drill pipe 206, the method 16800 can proceed to step 18810 andthe system can transfer the drill pipe 206 from the arm 430 of the LTH420 of the VTHS 400 to the arm of the UTH 422 of the VTHS 400. At step18812, the system 100 can raise the UTH 422 and the drill pipe 206 alongthe vertical support of the VTHS 400 (FIG. 67). At step 18814, thesystem 100 can lower the TDS 800 toward the well center area 508 (FIG.68).

While the system 100 is lowering the TDS 800 at step 18814, the system100 can perform one or more of steps 18816 through 18918. In particular,at step 18816, the system 100 can extend the next drill pipe 206 fromthe tubular storage area 200 to the well bore area 300 in along a thirdhorizontal axis (FIG. 68). Further, at step 18818, the system 100 canlower the LTH 420 of the VTHS 400 along the first vertical axis (FIG.68). At step 18820, the system 100 can rotate the arm 430 of the LTH 420of the VTHS 400 to a horizontal transfer position (FIG. 69). At step18822, the system 100 can open the first gripper and the second gripperon the arm 430 of the LTH 420 of the VTHS 400 (FIG. 69). At step 18824,the system 100 can move the grippers around the drill pipe 206 spanningone of the grippers on the arm 244 of the HTHS 230.

Continuing to FIG. 189, at step 18902, the system 100 can close thefirst and second grippers 482, 484 on the arm 430 of the LTH 420 of theVTHS 400 around the next drill pipe 206 (FIG. 69). At step 18904, thesystem 100 can verify that the LTH 420 of the VTHS 400 is engaged withthe drill pipe 206. At step 18906, if the LTH 420 is not engaged withthe drill pipe 206, the method 16800 can proceed to step 18908 and thesystem 100 can adjust the grippers 482, 484 on the LTH 420. Then, themethod 16800 can return to step 18904 and continue as described.Returning to step 18906, if the LTH 420 is engaged with the drill pipe206, the method 16800 can proceed to step 18910 and the system 100 canopen the first and second grippers on the arm 244 of the HTHS 230 (FIG.70). At step 18912, the system 100 can transfer the drill pipe 206 fromthe arm 244 of the HTHS 230 to the arm 430 of the LTH 420 of the VTHS400. At step 18914, the system 100 can rotate the drill pipe 206 from ahorizontal position to a vertical position using the arm 430 of the LTH420 of the VTHS 400 (FIG. 71). At step 18916, the system 100 can retractthe arm 244 of the HTHS 230. At step 18918, the system 100 can returnthe HTHS 230 to a neutral or stand-by position. At step 18920, thesystem 100 can rotate the arm on the UTH 422 of the VTHS 400 so that thelower end of the previous drill pipe 206 is aligned with a tool mountedon the vertical support member of the VTHS 400 (FIG. 72). At step 18904,the system 100 can rotate the arm on the LTH 420 of the VTHS 400 so thatthe upper end of the next drill pipe 206 is aligned with the toolmounted on the vertical support member of the VTHS 400 (FIG. 72).

Proceeding to FIG. 190, at step 19002, the system 100 can lower the UTH422 on the VTHS 400 until the lower end of the next drill pipe 206 iswithin the tool mounted on the vertical support member of the VTHS 400(FIG. 73). At step 19004, the system 100 can raise the LTH 420 on theVTHS 400 until the upper end of the previous drill pipe 206 is withinthe tool mounted on the vertical support member of the VTHS 400 (FIG.73). At step 19006, the system 100, using the grippers on the arm of theUTH 422 and the grippers on the arm 430 of the LTH 420, can couple theprevious drill pipe 206 to the next drill pipe 206 within the toolmounted on the vertical support member of the VTHS 400 (FIG. 74).Further, at step 19008, the system 100, using the tool on mounted on thevertical support member of the VTHS 400, can torque the previous drillpipe 206 and the next drill pipe 206 together to a predetermined torquevalue to form a double stack drill pipe 206 (FIG. 76).

While the system 100 is performing steps 18920 through 19008 with theVTHS 400, the system 100 can perform steps 19009 through 19011.Specifically, at step 19009, the system 100 can release the previousdouble stack from the TDS 800. At step 19010, the system 100 can raisethe TDS 800 away from the well center area 508. Further, at step 19011,the system 100 can rotate the VTHS 400 toward the dopant container (FIG.78). At step 19012, the system 100 can extend the arms of the LTH 420and UTH 422 of the VTHS 400 away from the vertical support member of theVTHS 400 and into position with the double stack drill pipe 206 alignedwith the dopant container (FIG. 79). At step 19014, the system 100 candip the threads of the double stack drill pipe 206 into the dopantcontainer. At step 19016, the system 100 can raise the double stackdrill pipe 206 out of the dopant container. Then, the method 16800 canmove to step 19102 of FIG. 191.

At step 19102, the system 100 can rotate the LTH 420 and the UTH 422 ofthe VTHS 400 and the double stack drill pipe 206 around the secondvertical axis while extending the arms outwardly from the verticalsupport structure 402 (FIG. 80). At step 19104, the system 100 can alignthe double stack drill pipe 206 with the well center opening and theprevious drill pipe 206 (FIG. 80). At step 19106, the system 100 canextend the iron roughneck 600 into the well center area 508 around thewell center, the double stack drill pipe 206, and the previous drillpipe 206 (FIG. 81). At step 19108, the system 100 can couple the doublestack drill pipe 206 to the previous drill pipe 206 using the gripperson the arms of the LTH 420 and the UTH 422 of the VTHS 400 (FIG. 82). Itis to be understood that step 19106 can be performed by the system 100with the iron roughneck 600, while one or more of steps 19102, 19104,and 19108 are being performed by the system 100 with the VTHS 400.

At step 19110, the system 100 can torque the drill pipes 206 togetherusing the iron roughneck (FIG. 83). While the system 100 torques thedrill pipes 206 at step 19100, the system 100 can perform one or more ofsteps 19112 through 19118 using the TDS 100. At step 19112, the system100 can lower the TDS 800 toward the upper end of the next drill pipe206 (FIG. 84). At step 19114, the system 100 can open the tubular clampon the elevator 850 of the TDS 800 (FIG. 84). At step 19116, the system100 can move the elevator 850 around an upper end of the BHA 210 (FIG.85). Moreover, at step 19118, the system can close the tubular clamp onthe elevator 850 of the TDS 800 around the upper end of the next drillpipe 206 (FIG. 86). At step 19120, the system 100 can verify that theelevator 850 of the TDS 800 is engaged with the next drill pipe 206. Atstep 19122, if the elevator 850 is not engaged with the next drill pipe206, the method 16800 can proceed to step 19124 and the system 100 canre-engage the elevator 850 with the next drill pipe 206. Then, themethod 16800 may return to step 19120 and continue as described herein.Returning to step 19122, if the elevator 850 is engaged with the nextdrill pipe 206, the method 16800 can continue to step 19202 of FIG. 192.

At step 19202, the system 100 can open the grippers on the LTH 420 andthe UTH 422 of the VTHS 400 (FIG. 85). At step 19204, the system 100 cantransfer the next drill pipe 206 to the elevator 850 of the TDS 800. Atstep 19206, the system 100 can retract the arms of the LTH 420 and theUTH 422 of the VTHS 400 (FIG. 86). At step 19208, the system 100 canreturn the iron roughneck 600 to a neutral or standby position (FIG.87). Thereafter, at step 19210, the system 100 can lower the TDS 800toward the well center area 508. Then, the method 16800 can end. It isto be understood that the system 100 can lower the TDS 800, at step19210, while returning the iron roughneck 600 to the neutral position,at step 19208.

FIG. 193 through FIG. 199 include a series of flowcharts that depictanother method 19300 of conducting a subterranean operation. Throughoutthe description of these flowcharts, elements that appear in the FIG. 1through FIG. 167 are referenced. The elements referenced are capable ofperforming the particular operation or function mentioned in theflowchart step. Further, there are parenthetical notations with specificfigures referenced. These parenthetical notations indicate the specificfigure (in FIG. 1 through FIG. 167) in which the performance of aparticular operation or function is depicted. It is to be understoodthat the elements and figures referenced are examples and the system 100is not limited to only the particular element cited performing theoperation or function. Moreover, any figures referenced provide examplesof how the performance of a particular step may appear and are notintended to be limiting as to the only manner in which a step may beperformed. Also, some steps may not appear in the figures.

Beginning at step 19302, the system 100 can move the HTHS 230 in a firstdirection along a first horizontal axis to a position over a horizontalcasing 214 storage rack (FIG. 90). At step 19304, the system 100 canmove the transverse member 242 in the HTHS 230 along the bridge of theHTHS 230 in a second direction along a second horizontal axisperpendicular to the first horizontal axis. At step 19306, the system100 can rotate the arm 244 of the HTHS 230 down and outward from thebridge of the HTHS 230 (FIG. 90). At step 19308, the system 100 can openthe first gripper 280 and the second gripper 282 on the arm 244 of theHTHS 230 (FIG. 90). Further, at step 19310, the system 100 can move thefirst and second grippers 280, 282 into position around the casing 214so that the first gripper and the second gripper span the center of thecasing 214 (FIG. 91). At step 19312, the system 100 can close thegrippers 280, 282 around the casing 214. Moreover, at step 19314, thesystem 100 can verify that the casing 214 is engaged with the grippers280, 282 on the arm 244 of the HTHS 230. At step 19316, if the casing214 is engaged with grippers 280, 282, the method 19300 can proceed tostep 19318 and the system 100 can adjust the grippers 280, 282. Then,the method 19300 can return to step 19314 and continue as describedherein. Returning to step 19316, if the casing 214 is engaged with thegrippers 280, 282, the method 19300 can proceed to step 19320 and thesystem 100 can retrieve the casing 214 from the horizontal casing 214storage rack 212 (FIG. 92). At step 19322, the system 100 can move theHTHS 230 in a second direction along the first horizontal axis away fromthe horizontal BHA storage rack 208 and toward the horizontal transferposition.

Proceeding to step 19402, depicted in FIG. 194, the system 100, usingthe arm 244 of the HTHS 230, can rotate the casing 214 approximately 180degrees (FIG. 95). At step 19404, the system 100 can extend the casing214 from the horizontal tubular storage area 200 to the well bore area300 in along a third horizontal axis (FIG. 96).

While performing one or more of steps 19302 through 19404 with the HTHS230, the system 100 can perform one or more of steps 19406 through 19420with the VTHS 400. Specifically, at step 19406, the system 100 can lowerthe LTH 420 of the VTHS 400 along the first vertical axis (FIG. 95). Atstep 19408, the system 100 can rotate an arm 430 of the LTH 420 of theVTHS 400 to a horizontal transfer position (FIG. 96). Further, at step19410, the system 100 can open a first gripper 482 and a second gripper484 on the arm 430 of the LTH 420 of the VTHS 400. At step 19412, thesystem 100 can move the grippers 482, 484 around the casing 214 spanningthe center of the casing 214 and one of the grippers 280, 282 on the arm244 of the HTHS 230 (FIG. 97). At step 19414, the system 100 can closethe first and second grippers 482, 484 on the arm 430 of the LTH 420 ofthe VTHS 400 around the casing 214. At step 19416, the system 100 canverify that the LTH 420 of the VTHS 400 is engaged with the casing 214.At step 19418, if the LTH 420 is not engaged with the casing 214, themethod 19300 can move to step 19420 and the system 100 can adjust thegrippers 482, 284. Thereafter, the method 19300 can return to step 19416and continue as described. On the other hand, at step 19418, if the LTH420 is engaged with the casing 214, the method 19300 can proceed to step19422 and the system 100 can open the first 280 and second grippers 282on the arm 244 of the HTHS 230 (FIG. 98).

Moving to FIG. 195, at step 19502, the system 100 can transfer thecasing 214 from the arm 244 of the HTHS 230 to the arm 430 of the LTH420 of the VTHS 400 (FIG. 99). At step 19504, the system 100 can rotatethe casing 214 from a horizontal position to a vertical position usingthe arm 430 of the LTH 420 of the VTHS 400 (FIG. 100). While rotatingthe casing 214 at step 19504, the system 100 can retract the arm 244 ofthe HTHS 230 (FIG. 100) at step 19506 and at step 19508, the system 100can return the HTHS 230 to retrieve the next casing 214. Further, atstep 19510, the system 100 can rotate the casing 214 and the LTH 420 ofthe VTHS 400 around a second vertical axis while extending the arm 430of the LTH 420 outwardly from the vertical support structure 402 (FIG.101). At step 19512, the system 100 can rotate the arm 430 of the LTH420 of the VTHS 400 and the casing 214 into position over the wellcenter (FIG. 102). At essentially the same time, at step 19514, thesystem 100 can extend the iron roughneck 600 into the well center area508 around the well center and the casing 214. At step 19516, the system100 can couple the casing 214 to the previous casing 214 using thegrippers on the arm 430 of the LTH 420 of the VTHS 400 (FIG. 103). Atstep 19518, the system 100 can torque the casing 214 using the ironroughneck 600 (FIG. 105). While torqueing the casing 214, the system 100can lower the TDS 800 toward the well center area 508 (FIG. 105) at step19520. Further, at step 19522, the system 100 can open the tubular clampon the elevator 850 of the TDS 800.

Proceeding to FIG. 196, at step 19602, the system 100 can move theelevator 850 around an upper end of the casing 214 (FIG. 105). At step19604, the system 100 can open the grippers on the LTH 420 of the VTHS400 (FIG. 106). At step 19606, the system 100 can release the casing 214from the LTH 420 (FIG. 106). At step 19608, the system 100 can close thetubular clamp on the elevator 850 of the TDS 800 around the upper end ofthe casing 214 to engage the casing 214 (FIG. 106). At step 19610, thesystem 100 can return the iron roughneck 600 to a neutral or standbyposition (FIG. 107). Further, at step 19612, the system 100 can transfercasing 214 to the elevator 850 of the TDS 800 (FIG. 107) and at step1614, the system 100 can retract the arm 430 of the LTH 420 of the VTHS400 (FIG. 107). At step 19616, the system 100 can lower the LTH 420 ofthe VTHS 400 along the first vertical axis (FIG. 108). Further, at step19618, the system 100 can rotate an arm 430 of the LTH 420 of the VTHS400 to a horizontal transfer position (FIG. 108). At essentially thesame time, at step 19620, the system 100 can open a first gripper 482and a second gripper 484 on the arm 430 of the LTH 420 of the VTHS 400and at step 19622, the system 100 can extend the casing 214 from thehorizontal tubular storage area 200 to the well bore area 300 in along athird horizontal axis (FIG. 108). Moreover, at step 19624, the system100 can move the grippers of the LTH 420 of the VTHS 400 around thecasing 214 spanning the center of the casing 214 and one of the gripperson the arm 244 of the HTHS 230 (FIG. 109). Thereafter, the method 19300can move to step 19702 of FIG. 197.

At step 19702, the system 100 can lower the TDS 800 toward to the wellcenter area 508 (FIG. 110). While lowering the TDS 800, the system 100can perform one or more of steps 19704 through 19710. In particular, atstep 19704, the system 100 can close the first and second grippers 482,484 on the arm 430 of the LTH 420 of the VTHS 400 around the next casing214 (FIG. 110). At step 19706, the system 100 can verify that the LTH420 of the VTHS 400 is engaged with the casing 214. Further, at step19708, if the LTH 420 of the VTHS 400 is not engaged with the casing214, the method 19300 can proceed to step 19710 and the system 100 canadjust the grippers 482, 484. Thereafter, the method 19300 can return tostep 19706 and continue as described herein. On the other hand, at step19708, if the LTH 420 of the VTHS 400 is engaged with the casing 214,the method 19300 can proceed to step 19712 where the system 100 can openthe first and second grippers 482, 484 on the arm 244 of the HTHS 230(FIG. 111).

Moving to step 19714, the system 100 can transfer the next casing 214from the arm 244 of the HTHS 230 to the arm 430 of the LTH 420 of theVTHS 400. At step 19716, the system 100 can rotate the casing 214 from ahorizontal position to a vertical position using the arm 430 of the LTH420 of the VTHS 400 (FIG. 112). Further, at step 19718, at essentiallythe same time, the system 100 can retract the arm 244 of the HTHS 230(FIG. 112) and at step 19720, the system 100 can return the HTHS 230 toa neutral or standby position. At step 19722, the system 100 can lockthe casing 214 in the well center opening (FIG. 112). Moreover, at step19724, the system 100 can open the tubular clamp on the elevator 850(FIG. 112).

Continuing to FIG. 198, at step 19802, the system 100 can release thecasing 214 (FIG. 113). At step 19804, the system 100 can raise the TDS800 away from the well center area 508 (FIG. 113). As the system 100raises the TDS 800, at step 19804, the system 100 can perform one ormore of steps 19806 through 19810. Specifically, at step 19806, thesystem 100 can rotate the next casing 214 and the LTH 420 of the VTHS400 around a second vertical axis while extending the arm 430 of the LTH420 outwardly from the vertical support structure 402 (FIG. 114). Atstep 19808, the system 100 can rotate the arm 430 of the LTH 420 of theVTHS 400 and the next casing 214 into position over the well center(FIG. 114). At step 19810, the system 100 can extend the iron roughneck600 into the well center area 508 around the well center, the nextcasing 214 and the previous casing 214 (FIG. 115). At step 19812, thesystem 100 can couple the next casing 214 to the previous casing 214using the grippers on the arm 430 of the LTH 420 of the VTHS 400 (FIG.115). Thereafter, at step 19814, the system 100 can torque the casing214 using the iron roughneck 600 (FIG. 116). Further, at step 19816, atessentially the same time as step 19814, the system 100 can lower theTDS 800 toward the well center area 508 (FIG. 115). At step 19818, thesystem 100 can open the tubular clamp on the elevator 850 of the TDS 800(FIG. 115). At step 19820, the system 100 can move the elevator 850around an upper end of the casing 214 (FIG. 116). Moreover, at step19802, the system 100 can open the grippers on the LTH 420 of the VTHS400 (FIG. 116). Then, the method 19300 can move to step 19902 of FIG.199.

At step 19902, the system 100 can release the casing 214 from the LTH420 of the VTHS 400 (FIG. 116). At step 19904, the system 100 can closethe tubular clamp on the elevator 850 of the TDS 800 around the upperend of the casing 214 to engage the casing 214 (FIG. 116). Additionally,at step 19906, the system 100 can return the iron roughneck 600 to aneutral or standby position (FIG. 117). At step 19908, the system 100can transfer casing 214 to the elevator 850 of the TDS 800 (FIG. 117).At step 19910, the system 100 can retract the arm 430 of the LTH 420 ofthe VTHS 400. It is to be understood that steps 19906 through 19910 canbe performed at essentially the same time. Further, at step 19912, theysystem 100 can return the arm 430 of the LTH 420 of the VTHS 400 to aneutral or standby position (FIG. 117). Then, at step 19914, the system100 can lower the TDS 800 toward to the well center area 508 (FIG. 118).Thereafter, the method 19300 can end.

Referring to FIG. 200 through FIG. 205, another series of flowcharts areillustrated that depict still another method of conducting asubterranean operation, generally designated 20000. Throughout thedescription of these flowcharts elements that appear in the FIG. 1through FIG. 167 are referenced. The referenced elements are capable ofperforming the particular operation or function mentioned in theflowchart step. Also, there may be parenthetical notations with specificfigures referenced. These parenthetical notations indicate the specificfigure (in FIG. 1 through FIG. 167) in which the performance of aparticular operation or function is depicted. It is to be understoodthat the elements and figures referenced are examples and the system 100is not limited to only the particular element cited performing theoperation or function. Moreover, any figures referenced provide examplesof how the performance of a particular step may appear and are notintended to be limiting as to the only manner in which a step may beperformed. Also, some steps may not appear in the figures.

At step 20002, the system 100 can rotate the arm 430 of the UTH 422 ofthe VTHS 400 to the vertical transfer position. At step 20004, thesystem 100 can rotate the arm 430 of the LTH 420 of the VTHS 400 to thevertical transfer position. At step 20006, the system 100 can rotate theVTHS 400 toward the vertical storage rack 702. Further, at step 20008,the system 100 can open the first gripper 482 and second gripper 484 onthe arm of the UTH 422 of the VTHS 400. At step 20010, the system 100can open the first gripper and second gripper on the arm 430 of the LTH420 of the VTHS 400. At step 20012, the system 100 can extend the arm ofthe UTH 422 of the VTHS 400 until the grippers 482, 484 on the arm 430are at least partially disposed around a casing stack in the verticalstorage rack 702 (FIG. 120). Further, at step 20014, the system 100 canextend the arm 430 of the LTH 420 of the VTHS 400 until the grippers482, 484 on the arm 430 are at least partially disposed around a casingstack in the vertical storage rack 702 (FIG. 120). At step 20016, thesystem 100 can close the grippers 482, 484 around the casing 214. Movingto step 20018, the system 100 can verify that the casing stack isengaged with grippers 482, 484 on the arms 430 of the VTHS 400. At step20020, if the casing 214 is not engaged with the grippers 482, 484 onthe arms 430 of the VTHS 400, the method 20000 can proceed to step 20022and the system 100 can adjust the grippers 482, 484. Then, the method20000 may return to step 20018 and continue as described herein.Returning to step 20020, if the casing stack is engaged with thegrippers 482, 484 on the arms 430 of the VTHS 400, the method 20000 canmove to step 20024 and the system 100 can retrieve the casing stack fromthe vertical storage rack 702.

Proceeding to FIG. 201, at step 20102, the system 100 can rotate thecasing stack and the LTH 420 and UTH 422 of the VTHS 400 around a secondvertical axis while extending the arm 430 of the LTH 420 and the arm ofthe UTH 422 outwardly from the vertical support structure 402. At step20104, the system 100 can rotate the arm 430 of the LTH 420 and the armof the UTH 422 of the VTHS 400 and the casing stack into position overthe well center (FIG. 124). At step 20106, at essentially the same time,the system 100 can extend the iron roughneck 600 into the well centerarea 508 around the well center, the next casing 214 and the previouscasing 214 (FIG. 124). At step 20108, the system 100 can couple thecasing stack to the previous casing 214 using the grippers 482, 484 onthe arms of the LTH 420 and UTH 422 of the VTHS 400 (FIG. 125).Thereafter, at step 20110, the system 100 can torque the casing 214using the iron roughneck 600 (FIG. 127). At step 20112, at essentiallythe same time, the system 100 can lower the TDS 800 toward the wellcenter area 508. At step 20114, the system 100 can open the tubularclamp on the elevator 850 of the TDS 800. At step 20116, the system 100can move the elevator 850 around an upper end of the casing 214.Further, at step 20118, the system 100 can open the grippers on the armsof the LTH 420 and UTH 422 of the VTHS 400. At step 20120, the system100 can release the casing stack. At essentially the same time, at step20121, the system 100 can return the iron roughneck 600 to a neutral orstandby position (FIG. 129). The method 20000 may then proceed to FIG.202.

Referring now to FIG. 202, at step 20202, the system 100 can close thetubular clamp on the elevator 850 of the TDS 800 around the upper end ofthe casing 214 to engage the casing 214. At step 20206, the system 100can transfer casing 214 to the elevator 850 of the TDS 800. Further, atstep 20208, the system 100 can retract the arms of the LTH 420 and UTH422 of the VTHS 400 (FIG. 128).

While performing one or more of steps 20002 through 20208 with the VTHS400, the iron roughneck 600, and the TDS 800, the system 100 may performone or more of steps 20210 through 20314, with the HTHS 230. Inparticular, at step 20210, the system 100 can move the HTHS 230 in afirst direction along a first horizontal axis to a position over ahorizontal casing 214 storage rack 212 (FIG. 121). At step 20212, thesystem 100 can move the transverse member 242 in the HTHS 230 along thebridge of the HTHS 230 in a second direction along a second horizontalaxis perpendicular to the first horizontal axis (FIG. 121). Further, atstep 20214, the system 100 can rotate the arm 244 of the HTHS 230 downand outward from the bridge of the HTHS 230 (FIG. 121). At step 20216,the system 100 can open the first gripper 280 and the second gripper 282on the arm 244 of the HTHS 230 (FIG. 121). At step 20218, the system 100can move the first and second grippers 280, 282 into position around thecasing 214 so that the first gripper and the second gripper span thecenter of the casing 214 (FIG. 122). At step 20220, the system 100 canclose the grippers around the casing 214.

Moving to step 20302 of FIG. 203, the system 100 can verify that thecasing 214 is engaged with grippers on the arm 244 of the HTHS 230.Further, at step 20304, if the system 100 determines that the casing 214is not engaged with the grippers 280, 282 on the arm 244 of the HTHS230, the method 20000 can proceed to step 20306 and the system 100 canadjust the grippers 280, 282. Then, the method 20000 can return to step20302 and continue as described. Returning to step 20304, if the system100 determines that the casing 214 is engaged with the grippers 280, 282on the arm 244 of the HTHS 230, the method can continue to step 20308and the system 100 can retrieve the casing 214 from the horizontalcasing 214 storage rack 212 (FIG. 123). At step 20310, the system 100can move the HTHS 230 in a second direction along the first horizontalaxis away from the horizontal BHA storage rack 208 and toward thehorizontal transfer position (FIG. 124).

At step 20312, the system 100, using the arm 244 of the HTHS 230, canrotate the casing 214 approximately 180 degrees, i.e., end over endaround a central axis (FIG. 124). At step 20314, the system 100 canextend the casing 214 from the horizontal tubular storage area 200 tothe well bore area 300 along a third horizontal axis (FIG. 126). At step20316, the system 100 can open a first gripper and a second gripper onthe arm 430 of the LTH 420 of the VTHS 400 (FIG. 128). At step 20316,the system 100 can lower the LTH 420 of the VTHS 400 along the firstvertical axis (FIG. 129). At step 20318, the system 100 can rotate anarm 430 of the LTH 420 of the VTHS 400 to a horizontal transfer position(FIG. 130).

Continuing to FIG. 204, at step 20402, the system 100 can move thegrippers 482, 484 of the LTH 420 of the VTHS 400 around the casing 214spanning the center of the casing 214 and one of the grippers 280, 282on the arm 244 of the HTHS 230 (FIG. 130). At step 20404, the system 100can close the first and second grippers 482, 484 on the arm 430 of theLTH 420 of the VTHS 400 around the casing 214 (FIG. 130). At step 20406,the system 100 can verify that the LTH 420 of the VTHS 400 is engagedwith the casing 214. At step 20408, if the LTH 420 of the VTHS 400 isnot engaged with the casing 214, the method 20000 can move to step 20410and the system 100 can adjust the grippers 482, 484. Thereafter, themethod 20000 may return to step 20406 and continue as described herein.Returning to step 20408, if the LTH 420 of the VTHS 400 is engaged withthe casing 214, the method 20000 can move to step 20412 and the system100 can open the first and second grippers on the arm 244 of the HTHS230 (FIG. 131). At step 20414, the system 100 can transfer the casing214 from the arm 244 of the HTHS 230 to the arm 430 of the LTH 420 ofthe VTHS 400 (FIG. 132). At step 20416, the system 100 can rotate thecasing 214 from a horizontal position to a vertical position using thearm 430 of the LTH 420 of the VTHS 400 (FIG. 133). Further, at step20418, the system 100 can retract the arm 244 of the HTHS 230. At step20420, the system 100 can return the HTHS 230 to a retrieve the nextcasing 214. At step 20422, the system 100 can lower the TDS (FIG. 133).Moreover, at step 20416, the system 100 can open the tubular clamp onthe elevator 850 (FIG. 134). It is to be understood that steps 20416through 20420 can be performed at essentially the same time. After thesesteps are performed, the method 20000 can proceed to FIG. 205.

At step 20502, the system 100 can release the casing 214. At step 20504,the system 100 can raise the TDS 800 away from the well center area 508(FIG. 135). Further, at step 20506, the system 100 can rotate the casing214 and the LTH 420 of the VTHS 400 around a second vertical axis whileextending the arm 430 of the LTH 420 outwardly from the vertical supportstructure 402 (FIG. 136). At step 20508, the system 100 can rotate thearm 430 of the LTH 420 of the VTHS 400 and the casing 214 into positionover the well center (FIG. 136). Thereafter, at step 20510, atessentially the same time as step 20508 is performed, the system 100 canextend the iron roughneck 600 into the well center area 508 around thewell center and the casing 214 (FIG. 137). At step 20512, the system 100can couple the casing 214 to the previous casing 214 using the gripperson the arm 430 of the LTH 420 of the VTHS 400 (FIG. 138). At step 20514,the system 100 can engage the TDS 800 with the casing 214 (FIG. 138).Further, at step 20516, the system 100 can torque the casing 214 usingthe iron roughneck 600 (FIG. 139). Then, at step 20518, at essentiallythe same time, the system 100 can retract the LTH of the VTHS from thecasing (FIG. 140). At step 20520, the system 100 can lower the TDS 800toward the well center area 508 (FIG. 141). At step 20521, atessentially the same time as the system 100 lowers the TDS 800, thesystem 100 can return the iron roughneck 600 to a neutral or standbyposition. Thereafter, the method 20000 may end.

Referring now to FIG. 206 through FIG. 212, another series of flowchartsare illustrated that depict yet another method of conducting asubterranean operation, designated 20600. Throughout the description ofthese flowcharts elements that appear in the FIG. 1 through FIG. 167 arereferenced. The elements referenced are capable of performing theparticular operation or function mentioned in the flowchart step.Further, there may be parenthetical notations with specific figuresreferenced. These parenthetical notations indicate the specific figure(in FIG. 1 through FIG. 167) in which the performance of a particularoperation or function is depicted.

Beginning at step 20601 of FIG. 206, the system 100 can engage the TDS800 with a drill pipe. At step 20602, the system 100 can lower the TDStoward the well bore area 506. While the system 100 lowers the TDS 800,the system 100 can perform steps 20603 through 21220 with the HTHS 230and the VTHS 400. Specifically, at step 20603, the system 100 can movethe HTHS 230 in a first direction along a first horizontal axis to aposition over a horizontal casing 214 rack (FIG. 142). At step 20604,the system 100 can move the transverse member 242 in the HTHS 230 alongthe bridge of the HTHS 230 in a second direction along a secondhorizontal axis perpendicular to the first horizontal axis (FIG. 143).At step 20606, the system 100 can rotate the arm 244 of the HTHS 230down and outward from the bridge of the HTHS 230 (FIG. 143). Further, atstep 20608, the system 100 can open the first gripper and the secondgripper on the arm 244 of the HTHS 230 (FIG. 143). At step 20610, thesystem 100 can move the first and second grippers into position aroundthe casing 214 so that the grippers span a center of the casing 214(FIG. 144). At step 20612, the system 100 can close the grippers aroundthe casing 214 (FIG. 144). At step 20614, the system 100 can verify thatthe casing 214 is engaged with the grippers 280, 282 on the arm 244 ofthe HTHS 230. At step 20616, if the casing 214 is not engaged with thegrippers 280, 282 on the arm 244 of the HTHS 230, the method 20600 canmove to step 20618 and the system 100 can adjust the grippers 280, 282.Then, the method 20600 can return to step 20614 and continue asdescribed. Conversely, at step 20616, if the casing 214 is engaged withthe grippers 280, 282 on the arm 244 of the HTHS 230, the method 20600can move to step 20620 and the system 100 can retrieve the casing 214from the horizontal casing 214 storage rack (FIG. 145). Further, at step20622, the system 100 can move the HTHS 230 in a second direction alongthe first horizontal axis away from the horizontal casing 214 storagerack 212 (FIG. 146). The method 20600 can then proceed to FIG. 207.

At step 20702, the system 100, using the arm 244 of the HTHS 230, canrotate the casing 214 approximately 180 degrees (FIG. 146). At step20704, the system 100 can extend the casing 214 from the tubular storagearea 200 to the well bore area 300 in along a third horizontal axis(FIG. 147). At step 20706, the system 100 can lower the LTH 420 of theVTHS 400 along the first vertical axis (FIG. 147). Further, at step20708, the system 100 can rotate the arm 430 of the LTH 420 of the VTHS400 to a horizontal transfer position (FIG. 147). At step 20710, thesystem 100 can open the first gripper 482 and the second gripper 484 onthe arm 430 of the LTH 420 of the VTHS 400 (FIG. 147). Moreover, at step20712, the system 100 can move the grippers 482, 484 around the casing214 spanning one of the grippers 280, 282 on the arm 244 of the HTHS 230(FIG. 148). At step 20714, the system 100 can close the first and secondgrippers 482, 484 on the arm 430 of the LTH 420 of the VTHS 400 (FIG.148).

Moving to step 20716, the system 100 can verify that the LTH 420 of theVTHS 400 is engaged with the casing 214. Further, at step 20718, if thesystem 100 determines that the LTH 420 of the VTHS 400 is not engagedwith the casing 214, the method 20600 can move to step 20720 and thesystem 100 can adjust the grippers 482, 480. Thereafter, the method20600 can return to step 20716 and continue as described. Returning tostep 20718, if the system 100 determines that the LTH 420 of the VTHS400 is engaged with the casing 214, the method 20600 can move to step20722 and the system 100 can open the first and second grippers 280, 282on the arm 244 of the HTHS 230 (FIG. 149). Further, at step 20724, thesystem 100 can transfer the casing 214 from the arm 244 of the HTHS 230to the arm 430 of the LTH 420 of the VTHS 400 (FIG. 150).

At step 20802 of FIG. 208, the system 100 can rotate the casing 214 froma horizontal position to a vertical position using the arm 430 of theLTH 420 of the VTHS 400 (FIG. 151). At step 20804, the system 100 canretract the arm 244 of the HTHS 230. At step 20806, the system 100 canreturn the HTHS 230 to retrieve the next casing 214 from the horizontalcasing 214 storage rack. Further, at step 20808, the system 100 canrotate the arm 430 on the UTH 422 of the VTHS 400 to a vertical transferposition (FIG. 151). At step 20810, the system 100 can vertically alignthe arm 430 of the UTH 422 with the arm 430 of the LTH 420. At step20812, the system 100 can open the first gripper 482 and the secondgripper 484 on the arm 430 of the UTH 422 of the VTHS 400. At step20814, the system 100 can lower the UTH 422 of the VTHS 400. Moreover,at step 20816, the system 100 can extend the arm 430 of the UTH 422until the grippers 482, 484 are around the casing 214 above the grippers482, 484 on the arm 430 of the LTH 420. (FIG. 152). At step 20818, thesystem 100 can close the grippers 482, 484 on the arm 430 of the UTH 422around the casing 214. At step 20820, the system 100 can verify that theUTH 422 of the VTHS 400 is engaged with the casing 214. Further, at step20822, if the system 100 determines that the UTH 422 of the VTHS 400 isnot engaged with the casing 214, the method 20600 can move to step 20824and the system 100 can adjust the grippers 482, 484 of the UTH 422.Then, the method 20600 can return to step 20820 and continue asdescribed. On the other hand, at step 20822, if the UTH 422 of the VTHS400 is engaged with the casing 214, the method 20600 can continue tostep 20902 of FIG. 209.

At step 20902, the system 100 can transfer the casing 214 from the arm430 of the LTH 420 of the VTHS 400 to the arm of the UTH 422 of the VTHS400 (FIG. 153). Further, at step 20904, the system 100 can release thegrippers 482, 484 on the arm 430 of the LTH 420 of the VTHS 400 (FIG.153) and at step 20906, the system 100 can lower the LTH 420 of the VTHS400 along the casing 214 (FIG. 153). At step 20908, the system 100 canclose the grippers on the arm 430 of the LTH 420 around the casing 214.Moreover, at step 20910, the system 100 can verify that the LTH 420 ofthe VTHS 400 is engaged with the casing 214. If the system 100determines that the LTH 420 of the VTHS 400 is not engaged with thecasing 214 at step 20912, the method 20600 can move to step 20914 andthe system 100 can adjust the grippers 482, 484 on the LTH 420. Then,the method 20600 can return to step 20910 and continue as describedherein. Returning to step 20912, if the LTH 420 of the VTHS 400 isengaged with the casing 214, the method 20600 can move to step 20916 andthe system 100 can release the grippers on the arm of the UTH 422 of theVTHS 400 (FIG. 154). At step 20918, the system 100 can raise the LTH 420and the casing 214 along the vertical axis toward the UTH 422 (FIG.154). Further, at step 20920, the system 100 can close the grippers onthe arm of the UTH 422 around the casing 214.

Moving to step 20922, the system 100 can verify that the UTH 422 of theVTHS 400 is engaged with the casing 214. If the system 100 determinesthat the UTH 422 of the VTHS 400 is not engaged with the casing 214 atstep 20924, the method 20600 can move to step 20926 and the system 100can adjust the grippers 482, 484 on the UTH 422. Then, the method 20600can return to step 20924 and continue as described herein. Returning tostep 20924, if the UTH 422 of the VTHS 400 is engaged with the casing214, the method 20600 can move to step 20102 of FIG. 210.

At step 20102, the system 100 can raise the UTH 422 and the casing 214along the vertical support of the VTHS 400 (FIG. 155). At step 20104,the system 100, using the HTHS 230, can extend the next casing 214 fromthe tubular storage area 200 to the well bore area 300 along the thirdhorizontal axis (FIG. 155). Further, at step 20106, the system 100 canlower the LTH 420 of the VTHS 400 along the first vertical axis (FIG.155). At step 20108, the system 100 can rotate the arm 430 of the LTH420 of the VTHS 400 to the horizontal transfer position. Moreover, atstep 20110, the system 100 can open the first gripper and the secondgripper on the arm 430 of the LTH 420 of the VTHS 400. At step 20112,the system 100 can move the grippers 482, 484 of the LTH 420 around thecasing 214 spanning one of the grippers 280, 282 on the arm 244 of theHTHS 230 (FIG. 156). At step 20114, the system 100 can close the firstand second grippers on the arm 430 of the LTH 420 of the VTHS 400 aroundthe next casing 214 (FIG. 156).

Moving to step 21016, the system 100 can verify that the LTH 420 of theVTHS 400 is engaged with the casing 214. At step 21018, if the LTH 420is not engaged with the casing 214, the method 20600 can move to step21020 and the system 100 can adjust the grippers 482, 284. Thereafter,the method 20600 can return to step 21016 and continue as described. Onthe other hand, at step 21018, if the LTH 420 is engaged with the casing214, the method 20600 can proceed to step 21022 and the system 100 canopen the first 280 and second grippers 282 on the arm 244 of the HTHS230 (FIG. 157). Thereafter, at step 21024, the system 100 can transferthe casing 214 from the arm 244 of the HTHS 230 to the arm 430 of theLTH 420 of the VTHS 400 (FIG. 158). The method 20600 can then move toFIG. 211.

At step 21102 of FIG. 211, the system 100 can rotate the casing 214 froma horizontal position to a vertical position using the arm 430 of theLTH 420 of the VTHS 400 (FIG. 159). Moreover, at step 21104, the system100 can retract the arm 244 of the HTHS 230 (FIG. 159). At step 21106,the system 100 can return the HTHS 230 to a neutral or stand-byposition. Moving to step 21108, the system 100 can rotate the arm on theUTH 422 of the VTHS 400 so that the lower end of the previous casing 214is aligned with a tool mounted on the vertical support member of theVTHS 400 (FIG. 159). Further, at step 21110, the system 100 can rotatethe arm on the LTH 420 of the VTHS 400 so that the upper end of the nextcasing 214 is aligned with the tool mounted on the vertical supportmember of the VTHS 400 (FIG. 160). At step 21112, the system 100 canlower the UTH 422 on the VTHS 400 until the lower end of the previouscasing 214 is within the tool mounted on the vertical support member ofthe VTHS 400 (FIG. 161). At step 21114, the system 100 can raise the LTH420 on the VTHS 400 until the upper end of the next casing 214 is withinthe tool mounted on the vertical support member of the VTHS 400 (FIG.161). Thereafter, at step 21116, the system 100, using the grippers 482,484 on the arm 430 of the UTH 422 and the grippers 482, 484 on the arm430 of the LTH 420, can couple the previous casing 214 to the nextcasing 214 within the tool mounted on the vertical support member of theVTHS 400 (FIG. 162). Further, at step 21118, the system 100, using thetool on mounted on the vertical support member of the VTHS 400, cantorque the previous casing 214 and the next casing 214 together to apredetermined torque value to form a casing stack (FIG. 163).

Continuing to FIG. 212, at step 21202, the system 100 can extend thearms of the LTH 420 and the UTH 422 of the VTHS 400 away from thevertical support member of the VTHS 400 and move the casing stack out ofand away from the tool mounted on the VTHS 400 (FIG. 164). At step21204, the system 100 can rotate the VTHS 400 toward the verticalstorage rack (FIG. 164). Further, at step 21206, the system 100 canextend the arms of the LTH 420 and UTH 422 of the VTHS 400 away from thevertical support member of the VTHS 400 and move the casing stack intothe vertical storage rack (FIG. 165). Then, at step 21208, the system100 can lower the casing stack into the vertical storage rack 702 (FIG.166). Moving to step 21110, the system 100 can verify that the casingstack is engaged with the vertical storage rack. Thereafter, if thesystem 100 determines that the casing stack is not engaged with thevertical storage rack at step 21112, the method 20600 can proceed tostep 21114 and the system 100 can adjust the casing stack within thevertical storage rack. Then, the method 20600 can return to step 21110and continue as described herein. Returning to step 21112, if the casingstack is engaged with the vertical storage rack, the method 20600 canproceed to step 21116. At step 21116, the system 100 can open thegrippers on the arms of the LTH 420 and UTH 422 of the VTHS 400 (FIG.167). Further, at step 21118, the system 100 can retract the arms of theLTH 420 and UTH 422 of the VTHS 400 (FIG. 167). Finally, at step 21120,the system 100 can return the LTH 420 and the UTH 422 of the VTHS 400 toa neutral or standby position. Then, the method 20600 may end.

While the methods above outline a prescribed series of steps forhandling tubulars, it can be appreciated that the steps may be performedin reverse order (e.g., for retrieving pipes and casings from the welland transferring them to the horizontal storage areas.) Further, stepsmay be omitted or performed in different orders as prescribed. Moreover,in certain instances the HTHS 230 may position pipes or casings directlyto the well center and spin them into the previous drill pipe or casing.In other instances, the HTHS 230 can spin tubulars (e.g., drill pipes,casings, subs, BHA components, etc.) directly out of well center andreturn those tubulars to the appropriate horizontal storage rack orvertical storage rack in the tubular storage area. Further, the HTHS 230can hand tubulars directly to the UTH 422 of the VTHS 400 or receivetubulars directly from the UTH 422.

It is to be understood that the system 100 described herein canrelatively quickly move drill pipes, casings, subs, BHA components, andother tubulars via the various subsystems, e.g., the HTHS 230, the VTHS400, the track mounted robotic arm 500, the iron roughneck 600, and theTDS 800. For example, the VTHS 400 can retrieve a pipe, pipe stack,casing, or casing stack, from one of the vertical storage racks andplace it over well center in an amount of time that is less than orequal to sixty (60) seconds. In another aspect, the VTHS 400 can performthis operation in an amount of time that is less than or equal tofifty-five (55) seconds, less than or equal to fifty (50) seconds, lessthan or equal to forty-five (45) seconds, less than or equal to forty(40) seconds, less than or equal to thirty-five (35) seconds, less thanor equal to thirty (30) seconds, or less than or equal to twenty-five(25) seconds. In another aspect, the VTHS 400 can perform this task inan amount of time that is greater than or equal to ten (10) seconds,such as greater than or equal to fifteen (15) seconds, or greater thanor equal to twenty (20) seconds. It is to be understood that the VTHS400 can perform this task in an amount of time that is with a rangebetween, and including, any of the maximum and minimum times describedherein.

In another aspect, the VTHS 400 can stab and spin a tubular (e.g., apipe, pipe stack, casing, casing stack, sub, or BHA component) to aprevious tubular (stick-up) in a time that is less than or equal toforty-five (45) seconds. In another aspect, the VTHS 400 can performthis operation in an amount of time that is less than or equal to forty(40) seconds, such as less than or equal to thirty-five (35) seconds,less than or equal to thirty (30) seconds, less than or equal totwenty-five (25) seconds, less than or equal to twenty (20) seconds, orless than or equal to fifteen (15) seconds. In another aspect, the VTHS400 can perform this task in an amount of time that is greater than orequal to five (5) seconds, such as greater than or equal to seven (7)seconds, greater than or equal to ten (10) seconds, or greater than orequal to twelve (12) seconds. It is to be understood that the VTHS 400can perform this task in an amount of time that is with a range between,and including, any of the maximum and minimum times described herein.

In still another aspect, the VTHS 400 can retrieve a pipe, pipe stand,casing, or casing stand from the vertical storage rack and stab and spinthe pipe, pipe stand, casing, or casing stand to a previous pipe, pipestand, casing, or casing stand (stick-up) in a time that is less than orequal to ninety (90) seconds. In another aspect, the VTHS 400 canperform this operation in an amount of time that is less than or equalto eighty (80) seconds, such as less than or equal to seventy (70)seconds, less than or equal to sixty (60) seconds, less than or equal tofifty (50) seconds, or less than or equal to forty (40) seconds. Inanother aspect, the VTHS 400 can perform this task in an amount of timethat is greater than or equal to twenty (20) seconds, such as greaterthan or equal to twenty-five (25) seconds, greater than or equal tothirty (30) seconds, or greater than or equal to thirty-five (35)seconds. It is to be understood that the VTHS 400 can perform this taskin an amount of time that is with a range between, and including, any ofthe maximum and minimum times described herein.

In yet another aspect, the VTHS 400 can build a stand of drill pipes, orcasings, in a time that is less than or equal to one-hundred and twenty(120) seconds. In another aspect, the VTHS 400 can perform thisoperation in an amount of time that is less than or equal to one-hundredand ten (110) seconds, such as less than or equal to one-hundred (100)seconds, less than or equal to ninety (90) seconds, or less than orequal to eighty (80) seconds. In another aspect, the VTHS 400 canperform this task in an amount of time that is greater than or equal toforty (40) seconds, such as greater than or equal to forty-five (45)seconds, greater than or equal to fifty (50) seconds, greater than orequal to fifty-five (55) seconds, greater than or equal to sixty (60)seconds, greater than or equal to sixty-five (65) seconds, greater thanor equal to seventy (70) seconds, or greater than or equal toseventy-five (75) seconds. It is to be understood that the VTHS 400 canperform this task in an amount of time that is with a range between, andincluding, any of the maximum and minimum times described herein.

In another aspect, the VTHS 400 can build a stand of drill pipes, orcasings, and place it in the vertical storage rack in a time that isless than or equal to one-hundred and eighty (180) seconds. In anotheraspect, the VTHS 400 can perform this operation in an amount of timethat is less than or equal to one-hundred and seventy (170) seconds,such as less than or equal to one-hundred and sixty (160) seconds, lessthan or equal to one-hundred and fifty (150) seconds, less than or equalto one-hundred and forty (140) seconds, less than or equal toone-hundred and thirty (130) seconds, less than or equal to one-hundredand twenty (120) seconds, or less than or equal to one-hundred and ten(110) seconds. In another aspect, the VTHS 400 can perform this task inan amount of time that is greater than or equal to seventy-five (75)seconds, such as greater than or equal to eighty (80) seconds, greaterthan or equal to eighty-five (85) seconds, greater than or equal toninety (90) seconds, greater than or equal to ninety-five (55) seconds,greater than or equal to one-hundred (100) seconds, or greater than orequal to one-hundred and five (105). It is to be understood that theVTHS 400 can perform this task in an amount of time that is with a rangebetween, and including, any of the maximum and minimum times describedherein.

In yet still another aspect, the HTHS 230 can retrieve a pipe, pipestand, casing, or casing stand from a horizontal storage rack andtransfer that pipe, pipe stand, casing, or casing stand to the VTHS 400in a time that is less than or equal to one-hundred (100) seconds. Inanother aspect, the VTHS 400 can perform this operation in an amount oftime that is less than or equal to ninety (90) seconds, such as lessthan or equal to eighty (80) seconds, as less than or equal to seventy(70) seconds, less than or equal to sixty (60) seconds. In anotheraspect, the VTHS 400 can perform this task in an amount of time that isgreater than or equal to twenty (20) seconds, such as greater than orequal to twenty-five (25) seconds, greater than or equal to thirty (30)seconds, greater than or equal to thirty-five (35) seconds, greater thanor equal to forty (40) seconds, greater than or equal to forty-five (45)seconds, greater than or equal to fifty (50) seconds, or greater than orequal to fifty-five (55) seconds. It is to be understood that the VTHS400 can perform this task in an amount of time that is with a rangebetween, and including, any of the maximum and minimum times describedherein.

In another aspect, the HTHS 230 can retrieve a pipe, pipe stand, casing,or casing stand from a horizontal storage rack and transfer that pipe,pipe stand, casing, or casing stand to previous pipe, pipe stand,casing, or casing stand in the well center (stick-up) and spin it intothe stick-up in a time that is less than or equal to one-hundred (100)seconds. In another aspect, the VTHS 400 can perform this operation inan amount of time that is less than or equal to ninety (90) seconds,such as less than or equal to eighty (80) seconds, as less than or equalto seventy (70) seconds, less than or equal to sixty (60) seconds. Inanother aspect, the VTHS 400 can perform this task in an amount of timethat is greater than or equal to twenty (20) seconds, such as greaterthan or equal to twenty-five (25) seconds, greater than or equal tothirty (30) seconds, greater than or equal to thirty-five (35) seconds,greater than or equal to forty (40) seconds, greater than or equal toforty-five (45) seconds, greater than or equal to fifty (50) seconds, orgreater than or equal to fifty-five (55) seconds. It is to be understoodthat the VTHS 400 can perform this task in an amount of time that iswith a range between, and including, any of the maximum and minimumtimes described herein.

Drill Pipe Storage System

Referring now to FIG. 213 through FIG. 216, a drill pipe storage systemis shown and is generally designated 21300. FIG. 213 is a top view ofthe drill pipe storage system 21300. As shown, the drill pipe storagesystem 21300 can include a generally rectangular housing 21302 having acentral opening 21304. It can be appreciated that central opening 21304can be sized and shaped to receive a tubular handling system therein,e.g., the VTHS 400 described herein.

As shown in FIG. 213, the drill pipe storage system 21300 can include aplurality of pipe support arms 21306 that can extend in a generallyinward direction from an inner wall 21308 of the housing 21302 toward acenter 21310 of the central opening 21304. A plurality of pipe storagebays 21312 can be established between adjacent pipe support arms 21306.

FIG. 214 is a detailed view of the drill pipe storage system 21300 takenat circle 214 in FIG. 213. As illustrated in FIG. 214, each pipe supportarm 21306 can include a first surface 21314 and a second surface 21316.A first corrugated structure 21318 can be affixed to the first surface21314 of each pipe support arm 21306. Moreover, a second corrugatedstructure 21320 can be affixed to the second surface 21316 of each pipesupport arm 21306. Each corrugated structure 21318, 21320 can bealternatingly formed with a serious of protrusions 21322 and channels21324. The protrusions 21322 can extend along the entire height of thedrill pipe storage system 21300 (i.e., into the page) and theprotrusions 21322 and the channels 21324 therebetween can be verticaland substantially parallel to each other and a longitudinal axis of thedrill pipe storage system 21300. Further, the protrusions 21322 canextend away from the surfaces 21314, 21316 of each pipe support arm21306 and into a respective pipe storage bay 21312.

As illustrated in FIG. 213 and FIG. 214, each pipe support arm 21306 ofthe drill pipe storage system 2130 can include a series of latches 21326that can extend into a respective pipe storage bay 21312 from an areaoverlapping with the channels 21324 formed in the corrugated structures21318, 21320. In a particular aspect, each latch 21326 can be movedbetween an extended position and a retracted position. Further, eachlatch 21326 can move in unison between the extended position and theretraction position. Specifically, as shown in FIG. 215 and FIG. 216,the latches 21326 can be connected to, or otherwise coupled to, anactuator link 21328 and the actuator link 21328 can move linearly asindicated by arrow 21330. The actuator link 21328 can be connected to anactuator (not shown). The actuator can be a mechanical actuator, anelectrical actuator, or a combination thereof. When the actuator link21328 moves in a first direction, each latch 21326 can rotate about apivot 21332 into the extended position, as illustrated in FIG. 215. Theactuator link 21328 moves in a second direction, opposite the first,each latch 21326 can move into the retracted position, as illustrated inFIG. 216. In one aspect, the latches 21326 can move in unison. Inanother aspect, the latches 21326 can move independently from eachother. Further, the latches 21326 can be spring actuated.

Referring back to FIG. 213 and FIG. 214, when the latches 21326 are inthe retracted position, the pipe storage bay 21312 can receive a firstsize of drill pipes 21334 and each of the first size of drill pipes21334 can be stored in a series of first storage openings 21336 that areestablished between opposite channels 21324 formed on adjacent pipesupport arms 21306 flanking a particular pipe storage bay 21312. Theopposing protrusions 21322 flanking each channel 21324 can be separatedby a first distance, D1, that is smaller than the diameter of each ofthe first size of drill pipes 21334 and each of the first size of drillpipes 21334 remain in its respective first storage opening 21336.

When the latches 21326 are in the extended position, the pipe storagebay 21312 can receive a second size of drill pipes 21338 and each of thesecond size of drill pipes 21338 can be stored in a series of secondstorage openings 21340 that are established between opposite protrusions21322 formed on adjacent pipe support arms 21306 flanking a particularpipe storage bay 21312. The first distance, D1, separating the opposingprotrusions 21322 can be larger than the diameter of each of the secondsize of drill pipes 21338 and each of the second storage openings 21340can be flanked by a pair of latches 21326 that maintain each of thesecond size of drill pipes 21338 in its respective second storageopening 21340. Accordingly, the pipe storage system 23100 can receiveand storage pipes of varying sizes depending on whether the latches212326 are extended or retracted.

Many different aspects and embodiments are possible. Some of thoseaspects and embodiments are described herein. After reading thisspecification, skilled artisans will appreciate that those aspects andembodiments are only illustrative and do not limit the scope of thepresent invention. Embodiments may be in accordance with any one or moreof the items as listed below.

Embodiments

Embodiment 1. A tubular handling system for conducting subterraneanoperations comprising: a first tubular handling system comprising: abridge disposed within a tubular storage area; an arm pivotally coupledto the bridge; and a gripper coupled to the arm and adapted to engagewith a tubular in the tubular storage area; and a second tubularhandling system comprising: a support structure; a first tubular handlercoupled to the support structure; and a second tubular handler coupledto the support structure and distinct from the first tubular handlingsystem.

Embodiment 2. The tubular handling system of embodiment 1, wherein thesupport structure of the second tubular handling system comprises avertically oriented structure.

Embodiment 3. The tubular handling system of any one of the precedingembodiments, wherein the support structure is rotatable about arotational axis.

Embodiment 4. The tubular handling system of any one of the precedingembodiments, wherein at least one of the first and second tubularhandlers is vertically adjustable with respect to the support structure.

Embodiment 5. The tubular handling system of any one of the precedingembodiments, wherein the first tubular handler comprises at least threedifferent pivot points.

Embodiment 6. The tubular handling system of any one of the precedingembodiments, wherein the second tubular handler comprises at least threedifferent pivot points.

Embodiment 7. The tubular handling system of any one of the precedingembodiments, wherein the first and second tubular handlers areindependently moveable with respect to one another.

Embodiment 8. The tubular handling system of any one of the precedingembodiments, wherein the first tubular handling system is disposed at avertical elevation above the tubular storage area.

Embodiment 9. The tubular handling system of any one of the precedingembodiments, wherein the gripper of the first tubular handling systemand the first tubular handler of the second tubular handling system areadapted to both engage the tubular at a same time.

Embodiment 10. The tubular handling system of any one of the precedingembodiments, wherein the first tubular handling system is adapted toreorient the tubular from the tubular storage area about an angulardisplacement of at least 91°, or at least 120°, or at least 150°, or atleast 180°, or at least 210°, or at least 240°, or at least 260°.

Embodiment 11. The tubular handling system of any one of the precedingembodiments, wherein the first tubular handling system is adapted toreorient the tubular from the tubular storage area about an angulardisplacement of no greater than 360°, or no greater than 270°.

Embodiment 12. The tubular handling system of any one of the precedingembodiments, wherein the first tubular handling system is adapted toreorient the tubular from the tubular storage area about an angulardisplacement of approximately 270°.

Embodiment 13. The tubular handling system of any one of the precedingembodiments, wherein the first tubular handling system is adapted toreposition the tubular from the tubular storage area to a tubulardelivery area, and wherein the second tubular handling system is adaptedto reposition the tubular from the tubular delivery area to a wellborearea.

Embodiment 14. The tubular handling system of any one of the precedingembodiments, wherein the second tubular handling system is adapted toreceive a tubular in a horizontal position from the first tubularhandling system, and wherein the second tubular handling system isadapted to reorient the tubular from a horizontal position to a verticalposition corresponding with a wellbore area.

Embodiment 15. The tubular handling system of any one of the precedingembodiments, wherein the first tubular handling system is adapted toengage with a second tubular while the second tubular handling system isengaged with the tubular.

Embodiment 16. The tubular handling system of any one of the precedingembodiments, wherein the bridge of the first tubular handling system isdisposed at a vertical elevation below the second tubular handlingsystem.

Embodiment 17. The tubular handling system of any one of the precedingembodiments, wherein the tubular handling system is autonomous.

Embodiment 18. A method of conducting subterranean operationscomprising: engaging a first tubular disposed in a tubular storage areawith a gripper of a first tubular handling system; repositioning thefirst tubular to a tubular delivery area; engaging the first tubularwith a gripper of a second tubular handling system; repositioning thefirst tubular to a wellbore area; and at least one of the followingprocesses:

-   a) translating a bridge of the first tubular handling system along a    guide from a first bridge position to a second bridge position    spaced apart from the first bridge position;-   b) moving the first tubular from a first position to a second    position, wherein moving the first tubular includes moving at least    a portion of the first tubular through the bridge between a first    portion and a second portion of the bridge;-   c) moving the first tubular from a first horizontal position    associated with the tubular storage area through a vertical position    and to a second horizontal position associated with the tubular    delivery area;-   d) translating an arm of the first tubular handling system along at    least a portion of a length of the bridge while rotating the first    tubular from a first horizontal position, through a vertical    position, to a second horizontal position;-   e) simultaneously gripping the first tubular with the gripper of the    first tubular handling system and the gripper of the second tubular    handling system in the tubular delivery area; vertically raising the    first tubular along a support structure of the second tubular    handling system while rotating the first tubular from a horizontal    position to a vertical position; or-   g) any combination thereof.

Embodiment 19. The method of embodiment 18, further comprisingtranslating a bridge of the first tubular handling system over thetubular storage area to a location containing the first tubular prior toengaging the first tubular.

Embodiment 20. The method of any one of embodiments 18 and 19, furthercomprising rotating an arm of the first tubular handling system towardthe first tubular and engaging the first tubular with the gripper of thefirst tubular handling system.

Embodiment 21. The method of any one of embodiments 18-20, wherein thesecond tubular handling system comprises a first tubular handler and asecond tubular handler, and wherein repositioning the first tubular tothe wellbore area comprises: gripping the first tubular with only thefirst tubular handler; gripping the first tubular with the first andsecond tubular handlers after gripping the first tubular with only thefirst tubular handler; and releasing the first tubular from the firsttubular handler after gripping the first tubular with the first andsecond tubular handlers.

Embodiment 22. The method of embodiment 21, further comprisingtranslating the second tubular handler in a vertical direction afterreleasing the first tubular from the first tubular handler.

Embodiment 23. The method of any one of embodiments 18-22, whereinengaging the first tubular with the gripper of the second tubularhandling system is performed such that the first tubular handling systemand second tubular handling system simultaneously contact the firsttubular in the tubular delivery area.

Embodiment 24. The method of any one of embodiments 18-23, whereinrepositioning the first tubular to the wellbore area comprises rotatingthe first tubular an angular displacement between 1° and 180°, orbetween 60° and 120°, or between 80° and 100°.

Embodiment 25. The method of any one of embodiments 18-24, whereinrepositioning the first tubular to the wellbore area comprises rotatingthe first tubular an angular displacement of approximately 90°.

Embodiment 26. The method of any one of embodiments 18-25, furthercomprising engaging a second tubular disposed in the tubular storagearea with the gripper of the tubular handling system.

Embodiment 27. The method of embodiment 26, wherein engaging the secondtubular is performed while the second tubular handling system is engagedwith the first tubular.

Embodiment 28. The method of any one of embodiments 26 and 27, furthercomprising repositioning the second tubular to the tubular deliveryarea.

Embodiment 29. The method of embodiment 28, wherein the second tubularis generally perpendicular to the first tubular in the wellbore areawhen the second tubular is disposed in the tubular delivery area.

Embodiment 30. The method of any one of embodiments 28 and 29, furthercomprising engaging the second tubular with the gripper of a secondtubular handling system; and repositioning the second tubular to thewellbore area.

Embodiment 31. The method of embodiment 30, wherein repositioning thesecond tubular is performed such that the second tubular is in axialalignment with the first tubular.

Embodiment 32. The method of any one of embodiments 30 and 31, furthercomprising engaging the first tubular with the second tubular.

Embodiment 33. The method of embodiment 32, further comprising: movingthe engaged first and second tubulars in a direction generally parallelwith a horizontal plane; and inserting at least a portion of the firstand second tubulars into a tool system disposed on the support structureof the second tubular handling system.

Embodiment 34. The method of embodiment 33, further comprising engagingthe tool system to securely engage the first and second tubularstogether.

Embodiment 35. The method of any one of embodiments 33 and 34, whereinthe tool system comprises a torque wrench.

Embodiment 36. The method of any one of embodiments 18-35, wherein thewellbore area corresponds with an area for building stands of tubularsand a wellbore, and wherein at least a portion of the wellbore area isdisposed above the tubular delivery area.

Embodiment 37. The method of any one of embodiments 18-36, wherein thegripper of the tubular handling system comprises at least two grippers,wherein the gripper of the second tubular handling system comprises atleast two grippers, and wherein engaging the first tubular with thegripper of a second tubular handling system is performed such that atleast one of the grippers of the second tubular handling system and atleast one of the grippers of the tubular handling system is in contactwith the first tubular simultaneously.

Embodiment 38. The method of any one of embodiments 18-37, wherein thegripper of the second tubular handling system comprises at least twogrippers and the gripper of the tubular handling system comprises atleast two grippers, and wherein engaging the first tubular with thegripper of the second tubular handling system is performed such that atleast one of the grippers of the tubular handling system and at leastone of the grippers of the second tubular handling system are spacedapart from the first tubular.

Embodiment 39. The method of any one of embodiments 18-38, wherein thegripper of the tubular handling system comprises at least two grippersand the gripper of the second tubular handling system comprises at leasttwo grippers, and wherein simultaneously gripping the first tubular withthe gripper of the tubular handling system and the gripper of the secondtubular handling system in the tubular delivery area is performed suchthat at least one of the at least two grippers of the second tubularhandling system is disposed between the at least two grippers of thetubular handling system.

Embodiment 40. The method of any one of embodiments 18-39, wherein thegripper of the tubular handling system comprises a first gripper and asecond gripper, wherein the gripper of the second tubular handlingsystem comprises a third gripper and a fourth gripper, and whereinsimultaneously gripping the first tubular with the gripper of thetubular handling system and the gripper of the second tubular handlingsystem in the tubular delivery area is performed such that a distancebetween the first and third grippers is generally equal to a distancebetween the second and fourth grippers.

Embodiment 41. The method of any one of embodiments 18-40, whereinengaging the first tubular with the gripper of the second tubularhandling system is performed while the first tubular is generallystatic.

Embodiment 42. The method of any one of embodiments 18-41, furthercomprising positioning a magazine defining a volume adapted to receivethe first tubular at a pick-up position within the tubular storage area,wherein positioning the magazine is performed such that a length of thefirst tubular is generally parallel with respect to the bridge.

Embodiment 43. The method of any one of embodiments 18-42, furthercomprising sensing at least one characteristic of the tubular storagearea, the at least one characteristic comprising at least one of:

-   a) a number of tubulars in the tubular storage area;-   b) a number of magazines in the tubular storage area, each magazine    adapted to receive at least one tubular;-   c) a position of the first tubular relative to the tubular storage    area; or-   d) any combination thereof.

Embodiment 44. The method of embodiment 43, wherein sensing is performedby a sensor coupled to at least one of the tubular handling system andsecond tubular handling system.

Embodiment 45. The method of any one of embodiments 43 and 44, whereinthe second tubular handling system is in communication with the tubularhandling system, and wherein the at least one characteristic of thetubular storage area is communicated between the tubular handling systemand the second tubular handling system.

Embodiment 46. A method of reorienting a tubular from a tubular storagearea to a wellbore area comprising rotating the tubular approximately270°.

Embodiment 47. The method of embodiment 46, wherein reorienting thetubular occurs within a single plane of motion.

Embodiment 48. The method of any one of embodiments 46 and 47, whereinthe method of reorienting the tubular occurs in a same rotationaldirection.

Embodiment 49. The method of any one of embodiments 46-48, wherein themethod of reorienting the tubular comprises a first motion and a secondmotion following the first motion, wherein the first motion comprisesapproximately 180° of rotation, and wherein the second motion comprisesapproximately 90° of rotation.

Embodiment 50. The method of embodiment 49, wherein the first and secondmotions are spaced apart by a duration of time during which the tubularis static.

Embodiment 51. The method of any one of embodiments 46-50, furthercomprising translating the tubular along an axis.

Embodiment 52. The method of embodiment 51, wherein the tubular istranslated along the axis during at least a portion of the time when thetubular is being reoriented.

Embodiment 53. A method of conducting subterranean operations, themethod comprising: lowering a top drive system until it engages atubular; raising the top drive system, while extending an iron roughneckaround a portion of the tubular; decoupling the tubular; retrieving thetubular from the top drive system with an arm of a vertical tubularhandling system; extending an arm of a horizontal tubular handlingsystem into a horizontal transfer position while retrieving the tubularfrom the top drop system; and transferring the tubular from the arm ofthe vertical tubular handling system to the arm of the horizontaltubular handling system.

Embodiment 54. The method of embodiment 53, further comprising: movingthe first tubular from a first horizontal position associated with apick-up position through a vertical position and to a second horizontalposition associated with a delivered position.

Embodiment 55. The method of embodiment 54, further comprising: movingthe tubular from a first position to a second position, wherein movingincludes moving at least a portion of the first tubular through thebridge between a first portion and a second portion of the bridge.

Embodiment 56. The method of embodiment 55, further comprising:translating a bridge of the horizontal tubular handling system from atransfer position to a first bridge position over a tubular storagearea.

Embodiment 57. The method of embodiment 56, further comprising: movingan arm coupled to the bridge toward a tubular storage area.

Embodiment 58. The method of embodiment 57, further comprising: placingthe tubular in the tubular storage area.

Embodiment 59. The method of embodiment 58, further comprising: openingone or more grippers on the arm coupled to the bridge to release thetubular in the tubular storage area.

Embodiment 60. A method of conducting subterranean operations, themethod comprising: lowering a top drive system until it engages atubular; raising the top drive system, while extending an iron roughneckaround a portion of the tubular; decoupling the tubular; retrieving thetubular from the top drive system with an arm of a vertical tubularhandling system; extending an arm of a horizontal tubular handlingsystem into a horizontal transfer position while retrieving the tubularfrom the top drop system; and transferring the tubular from the arm ofthe vertical tubular handling system to the arm of the horizontaltubular handling system.

Embodiment 61. The method of embodiment 60, further comprising: movingthe first tubular from a first horizontal position associated with apick-up position through a vertical position and to a second horizontalposition associated with a delivered position.

Embodiment 62. The method of embodiment 61, further comprising: movingthe tubular from a first position to a second position, wherein movingincludes moving at least a portion of the first tubular through thebridge between a first portion and a second portion of the bridge.

Embodiment 63. The method of embodiment 62, further comprising:translating a bridge of the horizontal tubular handling system from atransfer position to a first bridge position over a tubular storagearea.

Embodiment 64. The method of embodiment 63, further comprising: movingan arm coupled to the bridge toward a tubular storage area.

Embodiment 65. The method of embodiment 64, further comprising: placingthe tubular in the tubular storage area.

Embodiment 66. The method of embodiment 65, further comprising: openingone or more grippers on the arm coupled to the bridge to release thetubular in the tubular storage area.

The specification and illustrations of the embodiments described hereinare intended to provide a general understanding of the structure of thevarious embodiments. The specification and illustrations are notintended to serve as an exhaustive and comprehensive description of allof the elements and features of apparatus and systems that use thestructures or methods described herein. Separate embodiments may also beprovided in combination in a single embodiment, and conversely, variousfeatures that are, for brevity, described in the context of a singleembodiment, may also be provided separately or in any subcombination.Further, reference to values stated in ranges includes each and everyvalue within that range. Many other embodiments may be apparent toskilled artisans only after reading this specification. Otherembodiments may be used and derived from the disclosure, such that astructural substitution, logical substitution, or another change may bemade without departing from the scope of the disclosure. Accordingly,the disclosure is to be regarded as illustrative rather thanrestrictive. Benefits, other advantages, and solutions to problems havebeen described above with regard to specific embodiments. However, thebenefits, advantages, solutions to problems, and any feature(s) that maycause any benefit, advantage, or solution to occur or become morepronounced are not to be construed as a critical, required, or essentialfeature of any or all the claims.

The description in combination with the figures is provided to assist inunderstanding the teachings disclosed herein. The following discussionwill focus on specific implementations and embodiments of the teachings.This focus is provided to assist in describing the teachings and shouldnot be interpreted as a limitation on the scope or applicability of theteachings. However, other teachings can certainly be used in thisapplication.

As used herein, the terms “comprises,” “comprising,” “includes,”“including,” “has,” “having” or any other variation thereof, areintended to cover a non-exclusive inclusion. For example, a method,article, or apparatus that comprises a list of features is notnecessarily limited only to those features but may include otherfeatures not expressly listed or inherent to such method, article, orapparatus. Further, unless expressly stated to the contrary, “or” refersto an inclusive-or and not to an exclusive-or. For example, a conditionA or B is satisfied by any one of the following: A is true (or present)and B is false (or not present), A is false (or not present) and B istrue (or present), and both A and B are true (or present).

Also, the use of “a” or “an” is employed to describe elements andcomponents described herein. This is done merely for convenience and togive a general sense of the scope of the invention. This descriptionshould be read to include one or at least one and the singular alsoincludes the plural, or vice versa, unless it is clear that it is meantotherwise. For example, when a single item is described herein, morethan one item may be used in place of a single item. Similarly, wheremore than one item is described herein, a single item may be substitutedfor that more than one item.

Unless otherwise defined, all technical and scientific terms used hereinhave the same meaning as commonly understood by one of ordinary skill inthe art to which this invention belongs. The materials, methods, andexamples are illustrative only and not intended to be limiting. To theextent not described herein, many details regarding specific materialsand processing acts are conventional and may be found in reference booksand other sources within the structural arts and correspondingmanufacturing arts.

The above-disclosed subject matter is to be considered illustrative, andnot restrictive, and the appended claims are intended to cover all suchmodifications, enhancements, and other embodiments, which fall withinthe true scope of the present invention. Thus, to the maximum extentallowed by law, the scope of the present invention is to be determinedby the broadest permissible interpretation of the following claims andtheir equivalents, and shall not be restricted or limited by theforegoing detailed description.

What is claimed is:
 1. A tubular handling system for conductingsubterranean operations comprising: a first tubular handling systemcomprising: a bridge disposed within a tubular storage area; an armpivotally coupled to the bridge; and a gripper coupled to the arm andadapted to engage with a tubular in the tubular storage area; and asecond tubular handling system comprising: a support structure; a firsttubular handler coupled to the support structure; and a second tubularhandler coupled to the support structure and distinct from the firsttubular handling system.
 2. The tubular handling system of claim 1,wherein the support structure of the second tubular handling systemcomprises a vertically oriented structure.
 3. The tubular handlingsystem of claim 1, wherein the support structure is rotatable about arotational axis.
 4. The tubular handling system of claim 1, wherein atleast one of the first and second tubular handlers is verticallyadjustable with respect to the support structure.
 5. The tubularhandling system of claim 1, wherein the first tubular handler comprisesat least three different pivot points.
 6. The tubular handling system ofclaim 5, wherein the second tubular handler comprises at least threedifferent pivot points.
 7. The tubular handling system of claim 1,wherein the first and second tubular handlers are independently moveablewith respect to one another.
 8. The tubular handling system of claim 1,wherein the first tubular handling system is disposed at a verticalelevation above the tubular storage area.
 9. The tubular handling systemof claim 1, wherein the gripper of the first tubular handling system andthe first tubular handler of the second tubular handling system areadapted to both engage the tubular at a same time.
 10. The tubularhandling system of claim 1, wherein the first tubular handling system isadapted to reorient the tubular from the tubular storage area about anangular displacement of at least 91°, or at least 120°, or at least150°, or at least 180°, or at least 210°, or at least 240°, or at least260°.
 11. A method of conducting subterranean operations comprising:engaging a first tubular disposed in a tubular storage area with agripper of a first tubular handling system; repositioning the firsttubular to a tubular delivery area; engaging the first tubular with agripper of a second tubular handling system; repositioning the firsttubular to a wellbore area; and at least one of the following processes:a) translating a bridge of the first tubular handling system along aguide from a first bridge position to a second bridge position spacedapart from the first bridge position; b) moving the first tubular from afirst position to a second position, wherein moving the first tubularincludes moving at least a portion of the first tubular through thebridge between a first portion and a second portion of the bridge; c)moving the first tubular from a first horizontal position associatedwith the tubular storage area through a vertical position and to asecond horizontal position associated with the tubular delivery area; d)translating an arm of the first tubular handling system along at least aportion of a length of the bridge while rotating the first tubular froma first horizontal position, through a vertical position, to a secondhorizontal position; e) simultaneously gripping the first tubular withthe gripper of the first tubular handling system and the gripper of thesecond tubular handling system in the tubular delivery area; f)vertically raising the first tubular along a support structure of thesecond tubular handling system while rotating the first tubular from ahorizontal position to a vertical position; or g) any combinationthereof.
 12. The method of claim 11, further comprising translating abridge of the first tubular handling system over the tubular storagearea to a location containing the first tubular prior to engaging thefirst tubular.
 13. The method of claim 12, further comprising rotatingan arm of the first tubular handling system toward the first tubular andengaging the first tubular with the gripper of the first tubularhandling system.
 14. The method of claim 13, wherein the second tubularhandling system comprises a first tubular handler and a second tubularhandler, and wherein repositioning the first tubular to the wellborearea comprises: gripping the first tubular with only the first tubularhandler; gripping the first tubular with the first and second tubularhandlers after gripping the first tubular with only the first tubularhandler; and releasing the first tubular from the first tubular handlerafter gripping the first tubular with the first and second tubularhandlers.
 15. The method of claim 14, further comprising translating thesecond tubular handler in a vertical direction after releasing the firsttubular from the first tubular handler.
 16. A method of conductingsubterranean operations, the method comprising: lowering a top drivesystem until it engages a tubular; raising the top drive system, whileextending an iron roughneck around a portion of the tubular; decouplingthe tubular; retrieving the tubular from the top drive system with anarm of a vertical tubular handling system; extending an arm of ahorizontal tubular handling system into a horizontal transfer positionwhile retrieving the tubular from the top drop system; and transferringthe tubular from the arm of the vertical tubular handling system to thearm of the horizontal tubular handling system.
 17. The method of claim16, further comprising: moving the first tubular from a first horizontalposition associated with a pick-up position through a vertical positionand to a second horizontal position associated with a deliveredposition.
 18. The method of claim 17, further comprising: moving thetubular from a first position to a second position, wherein movingincludes moving at least a portion of the first tubular through thebridge between a first portion and a second portion of the bridge. 19.The method of claim 18, further comprising: translating a bridge of thehorizontal tubular handling system from a transfer position to a firstbridge position over a tubular storage area.
 20. The method of claim 19,further comprising: moving an arm coupled to the bridge toward a tubularstorage area.